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   Simulate the linear and angular states of a rigid body using "AC.m". 
   Four different geometries are available to choose from. 
   A rotor may be included or omitted.

   The motion is simulated using two different cases. 
     case 0   --    The origin of the body frame coincides with the CG
     case 1   --    The origin of the body frame is translated to a non-CG point

   The inertias for case 0 and case 1 are different, according to the parallel
   axis theorem. 

   The initial angular velocity is different for each case IF the inertia matrix 
   has non-zero off-diagonal terms.

   No aerodynamic forces or torques are considered.

   VERIFICATION
   ============

   * The trajectories of both the CG and a non-CG point on the body are computed 
     for each case, and the errors are plotted. 

   * The total angular momentum (body + rotors) is plotted. It should be constant.

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   Form:
   RigidBodyDemo( geometry, rotor )
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   ------
   Inputs
   ------
   geometry       (1)     Number 1,2,3,4 -- indicating the type of geometry to use
                             1 - Hemisphere                (inertia is pure diagonal)
                             2 - Cylinder                  (inertia is pure diagonal)
                             3 - Rectangular Tetrahedron   (inertia has off-diagonal terms)
                             4 - Half-Cone                 (inertia has off-diagonal terms)

   rotor          (1)     Flag 0,1 -- indicating whether to include a rotor or not

   -------
   Outputs
   -------
   none

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