Unnecessary members in SRigidbody

[geraldb]

   Eigen::Vector3d pos_global_;
  sRotationType ori_type_global_;
  Eigen::Quaternion<sFloat> ori_global_quat_;
  Eigen::AngleAxis<sFloat> ori_global_axis_angle_;
  Eigen::Matrix4d t_global_;

these should be removed I believe, it seems like they only return garbage (at least pos_global and t_global do)

[Samir Menon]

Fixed as of d58ef17c690a552ba837163427f31cb5d2566942