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Use Bullet's fixedTimeStep instead of manipulating timeStep for driving the simulation (+ fix indentation)


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Changed input of DiffIK and JacobiProvider from RobotNodePtr to SceneObjectPtr. This is useful when artificial markers attached to the RobotNodes should be used as input for IK solving. Changes were needed for the MMM project.

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- Allow to set new BulletEngineConfig at run-time (*)
- Fix indentation in some places (change spaces to tabs)
(*) currently specific to BulletEngine (no new methods in DynamicsEngine interface)


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* Fixed visualization bug in setVisualization that affected applyDisplacement and com visu.
* Added Model XML tag support.

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Changed RobotNodeActuator behavior, which only affects SimDynamics. The JointValue is now explicitly set when the body is moved (SimoxMotionState). The implicit re-computation of the joint angle (from the poses of the bodies) is not done any more and an error in the joint angle calculation is avoided. 

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Before, the following situation would lead to a wrong serialization:

getFilename(): "path/to/file.iv"
basePath: "path"

would result in: "path/file.iv" (since fn.filename() was used instead of the complete file)

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This makes sure that a common prefix can actually be detected even if basePath ends with a "/".
The previous version would fail in that case.
However, the file paths have to exists on the filesystem or else an exception is thrown.

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* Added revision number to cpack version. 
* Fixed arch package name.

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