[sharedmemory] Fill-out calculateJacobian command.

The server command processor actually didn't do anything with
the local point that was passed along with the calculateJacobian
command. Added in the necessary bit of math to return the
corresponding jacobian.

Also, fixed a typo in pybullet that was returning the same
jacobian for translation and rotation.

src/BulletInverseDynamics/IDMath.cpp

@@ -33,6 +33,18 @@ void setZero(mat33 &m) {
 	m(2, 2) = 0;
 }
 
+void skew(vec3& v, mat33* result) {
+	(*result)(0, 0) = 0.0;
+	(*result)(0, 1) = -v(2);
+	(*result)(0, 2) = v(1);
+	(*result)(1, 0) = v(2);
+	(*result)(1, 1) = 0.0;
+	(*result)(1, 2) = -v(0);
+	(*result)(2, 0) = -v(1);
+	(*result)(2, 1) = v(0);
+	(*result)(2, 2) = 0.0;
+}
+
 idScalar maxAbs(const vecx &v) {
 	idScalar result = 0.0;
 	for (int i = 0; i < v.size(); i++) {