PWL is better for muscles than Hat.
Lose this experimental stuff for now.
Drop VRML for the foreseeable future.
Further fiddling with Luxo.

PWL works better than Hat for muscles. Estimate LEAP_TIME from basic kinematics. Play with SimpsonIntegrator.

Still seems to result in wildly oscillatory motion. Something's awry somewhere.
Detabbify source code.

This is a whitespace-only commit. Let's stick to pure spaces.