Conflicts:

	unittest/geom.cpp

Conflicts:

	unittest/geom.cpp

Topic/model refactoring

CollisionPair does not invert indexes. Add CollisionPair::operator==

Fix doc of jacobinCenterOfMass

Those assignments lead to infinite recursion loops

Added radius algorithm

[Minor] Remove terminal s in Model::NeutralConfigurations.

Topic/joint revolute unbounded

[C++] Factorize code with JointRevolute for JointRevoluteUnbounded types such as MotionRevolute(Unbounded), Constraint