Added robust and fast QP solution
Added QLCPD to repo
Impact event handling somewhat simplified; should now be both faster (second QP is not solved unless restitution actually applied) and more robust (restitution phase uses same anytime approach)
added QLCPD support back in...
Added infinite friction model
Added find closest feasible point to QLCPD
Updated QLCPD-based solving method to be more robust
Merge branch 'robust-qp-solve' of https://github.com/edrumwri/Moby into robust-qp-solve
Added logging to infinite friction model; infinite friction model now triggered only when friction sufficiently high
Incorporated fixes to robust qp solve