This patch update code for the JointPR.
N.B. Since a patch was not included in the trunk this
patch redo some of the change in patch #1802134
1- Simplify the PRGetInfo1
- Remove temporary variables
- Use the ode function testRotationalLimit to simplify
2- Simplify the PRGetInfo2
- Calculate only once the position of the anchor2 in
- Use the function addLimot since the assumption on
the torque decoupling is OK
- Remove unneeded calculation of the offset in
3- Fix a bug in dJointSetPRParam. The "& oxff" was
not applied to the good motor.
4- Update and fix bug in dJointGetPRPositionRate
- Use an ODE function to simplify the calculation
N.B. The code for the patch was run through astyle