remove IPOPT (maybe we should not) and add a boolean to use the Visu or not
get frame to solve the problem
Merge branch 'test' into UseIpopt
better but still need to be tested and improved
solution that seems to work sometimes
the A matrix is now the Delassus matrix
the contact with only normal forces seems to work ;)
normal contact forces OK
start to code the tangent forces
start to implement pseudo gauss seydel
try to implement pseudo gauss seydel
Simulation works
clean up