head connects to neck during ragdoll simulation
reduce acceptable error for ragdoll simulation
cleanup and reordering of code
use relative masses for ContactPoint contsrtaint
ContactPoint tries to help maintain collisions

so that collision events will continue to update the contact
minor tweak to how ContactPoint is updated
less variability in verlet simulation loop count
merge upstream/master into andrew/ragdoll
adding comment about parameter's purpose
Merge pull request #3277 from AndrewMeadows/ragdoll

Ragdoll Part 10: a little more stability