When using GCC or Clang, use C++11 by default.
Merge pull request #126 from chrisdembia/patch-1

When using GCC or Clang, use C++11 by default.
Use CMake modules to find BLAS and LAPACK
Disable Visualizer compilation if dependencies are not found
Quick fix: disable find_package() of BLAS and LAPACK for Windows
Merge pull request #127 from elen4/improveCMake

Improve dependencies handling through CMake
Merge branch 'master' of https://github.com/simbody/simbody
- Implemented bilateral position projection (the default), with unilateral & no projection as options.
- Made position projection unconditional (not sure this is a good idea but seems to help in tests so far).
- Added solveBilateral() to ImpulseSolver interface to support bilateral position projection and implemented PGS-style (iterative) and PLUS-style (direct) versions.
- Improved documentation.
- Added convergence test to Newton iteration so that it can quickly detect failure to solve inconsistent equations rather than thrash.
- Fixed bug in PLUS: was looking at all sliding directions to determine step size but should have only looked at active ones.
- Cleaned up impact loop by separating the non-iterative Simultaneous mode from the interative Sequential and Mixed modes.
- Fixed bugs associated with proper classification of participating constraints in some circumstances.
- Made some minor tweaks to the RigidContact1 test program.