logging: fixed terminal colors
solver: split simulation to position and force based
solver: collision solve kernel fixed

- names refactorized
- styling fixed
- fixed updating velocities
demo: links fixed + 1 mass point fixed
solver: upgraded constraint solver

Constraint Solver now uses shared memory and atomics to solve constraints.
demo: added extra links for cube
code formatting
solver: making stifness parameters independent of solver steps
collisions: added point-triangle constraint solving kernel