When debug is enabled, color the current ZMP pos by whether it is within the support polygon of the active contacts
When debug is enabled, color the current ZMP pos by whether it is within the support polygon of the active contacts

git-svn-id: 767549f2a3626ae39d79f5348867a3ebb5082aca@4067 c7283977-0100-402a-a91a-fa70b306dbfe

openhumanoids/oh-distro,openhumanoids/oh-distro,openhumanoids/oh-distro,openhumanoids/oh-distro,openhumanoids/oh-distro,openhumanoids/oh-distro,openhumanoids/oh-distro,openhumanoids/oh-distro