- remove Cholesky solver calling code
- rename Chaos collision and joint stats
- add drag handles to RBAN editing in PhAt
#rb none
#ROBOMERGE-SOURCE: CL 10995456 via CL 10995464 via CL 10995468 via CL 10995475
#ROBOMERGE-BOT: (v633-10983880)
[CL 10995481 by chris caulfield in Main branch]