Help wanted -

Please checkout the latest code and poke at everything.  It's allowed to 
wobble a little, just make sure nothing goes boom (segfaults, coreloop lockup)

I just fixed the nvidia lighting bug, which turned out to be trivial once I 
realized what it was; for some reason the light's position is four floats, the 
last of which *must* be 1.0.  We were previously treating as an ignored value.
Who knows, maybe the last value is a multiplier?

I didn't get much time to test joints.  This is perhaps the most ignored 
section of code.  Can the joints all be used?  Or do they blow up when you 
connect two ball joints to the same body?
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