* add DynamicsWorld::{getObjects, removeFloorPlane, clear)
* add DynamicsEngine::removeFloorPlane
* add BulletEngine::removeFloorPlane

* modernize-shrink-to-fit
* modernize-use-nullptr
* modernize-use-equals-default
* modernize-use-equals-delete
* modernize-unary-static-assert
* modernize-use-bool-literals
* modernize-replace-random-shuffle

the friction coeffitient of the floor plane can be modified; more meaningful error messages for Hierachical IK

reduced the number of warnings with -Wall -Wextra -Wpedantic (now < 250 (mostly qhull), before > 10000

Moved all boost includes to VirtualRobot.h and added workaround to qt/boost bug that results in failures during moc step.
Removed poseVisualization and poseJoint methods since these methods just refer to the global pose 
Added convenient methods to get the pose of a RobotNode to root coordinate system of the robot.

git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@775 042f3d55-54a8-47e9-b7fb-15903f145c44

git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@731 042f3d55-54a8-47e9-b7fb-15903f145c44

Added optional SimualtionType flag (used by SimDynamics). Extended grid visualization classes, texture files can now be specified. Added several SimDynamics improvements.

git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@405 042f3d55-54a8-47e9-b7fb-15903f145c44

Improved stability of bullet related dynamics simulation.
Added some extended functionality to bounding box class.
Added getBoundingBox method to robot.




git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@400 042f3d55-54a8-47e9-b7fb-15903f145c44

Added extended functionality to BulletEngine/CoinQtBulletViewer. Mutex protections and start/stop/step engine functionality.
Fixed missing const definition in SimoxCollisionDispatcher: now the correct methods are called by the bullet framework.
Improved SimDynamiosViewer: Start/Stop/Step engine, CoM visualizations



git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@335 042f3d55-54a8-47e9-b7fb-15903f145c44

Custom CollisionDispatcher to ensure that self collisions between adjacent joints are not considered.
Fixes for CoM offset computations simox<->bullet
Parameter tweaking to improve physics results
Fix joint angle directions
Fix seg fault on viewer exit
ViewAll fix: ignore floor plane

git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@290 042f3d55-54a8-47e9-b7fb-15903f145c44

+ Generic interface for dynamics objects
+ Bullet support for Objects and robots
+ two examples showing the internal bullet state and the transformation to simox


git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@287 042f3d55-54a8-47e9-b7fb-15903f145c44