Implementation improvements

[mithi]

While porting this to javascript I have discovered so many ways to improve the code structure and algorithms found in this project

Take a look at the following files on the new project
https://github.com/mithi/hexapod/blob/master/src/hexapod/Linkage.js
https://github.com/mithi/hexapod/blob/master/src/hexapod/VirtualHexapod.js
https://github.com/mithi/hexapod/blob/master/src/hexapod/basicObjects.js