Mar. 28. 2010 (v0.9.0)
	+ add pseudoinverse and replace invert
	+ use constant radius for base 
	+ add draw options

Mar. 4. 2010 (v0.8.2)
	+ changed draw option number (v0.8.1)
	- fixed bug in drawing colored active muscle 

Mar. 3. 2010 (v0.8.0)
	+ create initOctArm
	+ changed default rho for faster simulation
	+ added coloring active muscle (by Reinaldo)

Mar. 1. 2010
	+ reduced code size with matrix computation (Contraint and Water)
	- when releasing muscles (no actions), the arm increases its volume
		=> bug: not adding dampening term in case of nodelen <= lrest 
	- oscillation when moving against the gravity
		=> changed dampening factor to 9 for less oscillation

Feb. 27. 2009
	+ adapted coefficients from "Dynamic Model of the Octopus Arm." by Yoram
	Yekutieli  (http://jn.physiology.org/cgi/content/abstract/94/2/1443)
	+ changed basic structure and muscle force computation 
	+ Add macro for debug (gtools)
	+ add calcArea function
	+ use weights on the octopus arm simulator by Danny Castonguay
	(http://www.cim.mcgill.ca/~dcasto4/)
	- breaking tip error
		=> fixed index error on Constraint force calculation 

Before 
	Implemented octopus arm simulator based on the code by Peter Szabo and Dmitry Volkinshtein
	(http://visl.technion.ac.il/projects/PSPL/2004w05/index.html)
	Problems - tip breaks after some time periods, and it propagates to the
	base