Ragdoll Part 6: muscle constraints for driving Ragdoll and also damped velocity integration for verlet simulation

No longer using linear puppet strings for driving avatar animation.  Instead using constraints that are updated each frame.  This makes all the movement happen in the PhysicsSimulation which makes for more consistent joint placement after collisions are resolved.

Also added some (heavily damped) velocity interpolation for the verlet integration.  Without the damping the avatar wiggles a lot.

No improvement for tunneling through ragdoll limbs, but will work on that next.
is childoint a mis-spelling?