Add inverse dynamics / mass matrix code from DeepMimic, thanks to Xue Bin (Jason) Peng
Add example how to use stable PD control for humanoid with spherical joints (see humanoidMotionCapture.py)
Fix related to TinyRenderer object transforms not updating when using collision filtering
Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files.
make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type.
This commit contains no other changes aside from adding and applying clang-format-all.sh
error_message and warning_message are common strings that are likely to
collide. Renamed to bt_id_{error,warning}_message to more strongly
uniquify.
grep -r error_message -l src/BulletInverseDynamics | \
xargs sed -i -e "s/error_message/bt_id_error_message/g"
grep -r warning_message -l src/BulletInverseDynamics | \
xargs sed -i -e "s/warning_message/bt_id_warning_message/g"
