[ODE] Arbitrarily positioning bodies connected by joints

[Shamyl Zakariya]

So, this is where phrases like "tempest in a teacup" come from.

It all turned out that I had a *major* but subtle bug in my  
transformation code. As it happens, so long as you get your bodies  
transformed correctly and they retain their original relative  
transformations, ODE handles the joints connecting them just fine.  
Even when dealing with circular systems ( a->b->c->a ) it works fine.

Shamyl Zakariya
	"Simplicate, then add lightness"
	 - Colin Chapman