2.84
Remove useless const qualifiers from returns
fix whitespace formatting in cmake files
Update IDConfig.hpp
change 4 spaces to tab for src/BulletInverseDynamics fix unit test in single precision compilation (use delta t of 0.01 if BT_ID_USE_DOUBLE_PRECISION is not defined)
[InverseDynamics] Support for Jacobians & derivatives
add real-time safe Inverse Dynamics library+test+utils an example for the example browser will follow. thanks to Thomas Buschmann