Fix incorrect sign for the reaction force and torque in a universal joint.

This change of sign is necessary due to the manner in which the Lagrange multipliers are included in the EOM in Chrono:
     ( M * v' - C_q^T * lambda ) = ...
Temporarily increase max number of iterations (speed) during assembly.

When performing assembly, we may not have a good initial guess.  We temporarily increase the maximum number of iterations 5-fold and then restore it to the user-specified value for subsequent analyses.
Add alternative implementation of a revolute joint.

This implementation uses Haug's formulation.  The revolute joint is modeled using 3 spherical constraints and 2 perpendicularity constraints.