enforce alphabetical sort of Menu option strings
add more methods for processing visible transforms
update visible transforms right before render
Skeleton gets custom update for visible transforms
Remove some old TODO comments
bug fix: bad logic in capsule-vs-capsule
add JointState::_positionInParentFrame
namechange FromBindFrame ==> InBindFrame
add getRotationInParentFrame()
add JointState::getPositionInParentFrame()
whitespace formatting
add constraints between child joints of same parent
merge upstream/master into andrew/ragdoll

Conflicts:
	interface/src/Menu.h
more stability when fingers follow ragdoll
fix capsule-vs-capule collision test
fix bug in mixVisibleRotationDelta()

was using a non-visible rotation
minor tweak to rate at which ragdoll shapes follow joints
merge upstream/master into andrew/ragdoll
minor cleanup around measurements of joint radius
improved collision shapes for fingers