Improved FPS rate in Qt viewer.
Improved 'util.Timeit'; added 'util.timefunc' decorator.
'start' now uses ZeroMQ controller for better performance.
'viewer' now uses ZeroMQ controller for better performance.
Improved some variable names in 'viewer'.
Improved database query in 'btInterface.getStateVariables'.
bugfix: Timeit now reports the correct total when ticks() are used.
LeonardBulletSweepingMultiMTWorker instances now terminate cleanly.