Moved toward different solvers
Bugfixed nondeterministic behavior of determine_q_tare
Updated resting event handler
Fixed cmakelists
Merged in resting contact branch
Preparing for adaptive integration on resting contact
Adaptive integration with resting contact now compiles (not tested)
Fixed merge
Tested resting contact method and added some bugfixes
Bugfixes to resting contact method
Fixed another bug in acceleration-based integration
simulator now integrates velocities forward