Added many Joints. Parse asmt file.

MbDCode/SphericalJoint.cpp

@@ -0,0 +1,25 @@
+#include "SphericalJoint.h"
+#include "CREATE.h"
+#include "System.h"
+
+using namespace MbD;
+
+MbD::SphericalJoint::SphericalJoint()
+{
+}
+
+MbD::SphericalJoint::SphericalJoint(const char* str) : AtPointJoint(str)
+{
+}
+
+void MbD::SphericalJoint::initializeGlobally()
+{
+	if (constraints->empty())
+	{
+		createAtPointConstraints();
+		this->root()->hasChanged = true;
+	}
+	else {
+		Joint::initializeGlobally();
+	}
+}