Integrating dynamics3d

[Samir Menon]

1. Move dynamics3d to the top level chai dir

2. Replicate the chai lib build for dynamics 3d

3. Get master version: ba31fe27e672cf3997819f97e60e1dd5c45f2bb1

4. Add a test_dynamics to scl_test. This should systematically compare this impl with Tao.

5. Implement more functions C3dDynamics (in this order, while adding tests in the scl_test): (a) calculateTransformationMatrix() (b) calculateJacobian() (b) updateModelMatrices()

[Samir Menon]

Kenji seems to have done all this.

[Samir Menon]

The updated version will be available once c3d is released (ask Francois).

In the mean while, you may ask me for a custom copy of the interface, and ask Francois for a copy of the c3d lib.