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[MATLAB] Update to OpenSim 4.0 #8

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@modenaxe

Time to update to OpenSim 4.0. This requires reviewing the pull request by @KSongGitHub .
Some functions included in the pull request were already available in other packages I developed previously, but the contribution is greatly appreciated. Thank you @KSongGitHub - I might bother you in the next days if I find something I cannot understand.

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