Moved toward different solvers
First commit
CCD now incorporates joint limits
Merge branch 'master' into NewCCD
Double pendulum example works
Implemented DAE integration
Fixed some conservative advancement bugs
Updated integration paradigm
Updated CCD
First complete compilation of NewCCD done
Got new CCD system working with Box/Box, Box/Sphere; Sphere/Sphere still untested
Fixed contact point generation
Updated CCD
Fixed Sam's bug?
Fixed determine_q_tare bug
Contacts are now creatable when bodies are separated
Fixed bug just introduced in CCD::find_contacts()
Collision detection no longer checks for contacts between disabled bodies
Added specialized sphere/sphere contact creation
Fixed bug in SpherePrimitive::calc_signed_dist()?