Nolan's friend Joan Collins breaks the news of his death on Twitter
Career suffered after allegations of stalking Tina Sinatra
Richard and Esther Shapiro are writing a script that will reinvent the series' classic characters
Also appeared in miniseries "The Duchess of Duke Street," films "Three Men and a Little Lady," "A Knight's Tale"
Urbane character actor starred in "Dynasty" and was the voice of Charlie on "Charlie's Angels"