First glimmer of rigid contact code in Simbody, not fully functional yet. There is a new test program RigidContact1.cpp that tries to duplicate TimsBoxPGS but with only calls to the (new) Simbody API.
A version of the PGS solver is present but I haven't put in the PLUS Newton solver yet.
Fix compilation problem caught by Travis.
Fix several more warnings & errors caught by clang (via Travis).
Bug fixes and tweaks to the induced impact sequence and the PGS solver.
First checkin for the PLUS Newton solver in Simbody. SemiExplicitEulerTimeStepper is configured to use that only. Has very limited functionality so far, but seems to work for the examples in RigidContact1. Tons of output in Debug mode.
Merge branch 'rigidContact' of github.com:simbody/simbody