[MATLAB] Update to OpenSim 4.0

[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.

[modenaxe]

TODO: tests ->tag v3 -> integration in main MATLAB folder of Ke's modifications.