Working commit on collision integration. Updated contactConstraints (untested), removed contactPositions. Added unilateral constraints to DynamicalSystem and subclasses and integrated into findFixedPoint and resolveConstraints.
Working commit. Rewrote contactConstraintsBV to use new contactConstraints. Rewrote RBM.findFixedPoint
Working commit.
Working commit.
Changes to solveLCP for new contact formulation.
Merge pull request #2 from mposa/collision-dynamics-integration