Remove visible center of mass
Tweak energy consumption
Fix angular momentum bug

Finally found the bug that was making rotation orders of magnitude
smaller than translation: I'd forgotten to take mass into account in one
equation. I finally god rid of the separate ratios for
translation/rotation that have been bugging me for a while. Yipee! :)
Add VisualDebugger
Fix bug with miscalculated moments of inertia

This one was sneaky, and the main culprit of the remainins "weird"
movements. The problem: when I calculated movement for body segments, I
approximated it as the movement of the center point. I thought this
would be acceptable, but it ended up creating very wrong movements for
segments that were rotating. I reverted to my old style of calculating
movement by averaging the translation of the two endpoints.
Reduce skewing velocity