Added experimental branch
Implemented and tested fast pivoting LCP solver
Merge branch 'Ravelin' of https://github.com/edrumwri/Moby into Experimental
Merge branch 'master' of https://github.com/edrumwri/Moby into Experimental
Updated code
Updated experimental branch to use IPOPT
Updated signed energy dissipation
Updated ipopt-based event handling
IPOPT solver now fully integrated into Moby
Implemented fast pivoting LCP solver
Added fast pivoting LCP algorithm
Merged IPOPT branch in; added anytime contact algorithm
Fixed some runtime errors with contact reduction (still not working properly
Contact reduction basically working; need to shift active contact handling to solve_qp_work(.) and solve_nqp_work(.)
Updated to contact reduction; refactoring to fix bug
Updated NQP solver to have framework for anytime solve
Reduced problem size using reduced Nv+>= 0
Fixed contact-reduce build when IPOPT not present
Moby working with brake example
Updated IPOPT fixes