Added experimental branch
Implemented and tested fast pivoting LCP solver
Merge branch 'Ravelin' of https://github.com/edrumwri/Moby into Experimental
Merge branch 'master' of https://github.com/edrumwri/Moby into Experimental
Updated code
Updated experimental branch to use IPOPT
Updated signed energy dissipation
Updated ipopt-based event handling
IPOPT solver now fully integrated into Moby
Merged IPOPT branch in; added anytime contact algorithm