minor cleanup
check for nan's coming out of rotationBetween()
add JointState::getDistanceToParent()
parent-relative linear slaving of verlet shapes
merge upstream/master into andrew/ragdoll
merge upstream/master into andrew/ragdoll
send visible joint state when colliding as ragdoll
fix comments
Merge pull request #3209 from AndrewMeadows/ragdoll

Ragdoll Part 5: send visible transforms when using ragdoll