Updated description of rigid body rotation, shift, and transform operators.
Updated description of rigid body rotation, shift, and transform operators.

elkingtonmcb/simbody,simbody/simbody,scamille/simbody,chrisdembia/simbody,elen4/simbody,chrisdembia/simbody,scamille/simbody,Gjacquenot/simbody,Gjacquenot/simbody,robojukie/simbody,elen4/simbody,elkingtonmcb/simbody,chrisdembia/simbody,Gjacquenot/simbody,robojukie/simbody,scamille/simbody,elkingtonmcb/simbody,simbody/simbody,robojukie/simbody