fix portability of BulletInverseDynamics (usual issues: std::pow, M_PI, std::vector->idArray<T>::type, snprintf, pass vec3 and mat33 by const reference, not by value)

Extras/InverseDynamics/btMultiBodyTreeCreator.hpp

@@ -42,7 +42,7 @@ private:
         vec3 body_r_body_com;
         mat33 body_I_body;
     };
-    std::vector<LinkData> m_data;
+    idArray<LinkData>::type m_data;
     bool m_initialized;
 };
 }