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BUG: Various fixes

Andrew Wilson requested to merge andrew.wilson/iMSTK:VariousFixes into master
  • I accidently turned vsync on by default when introducing the flag. This shouldn't be default behaviour.
  • Little tuning on the haptic examples now that they can run more consistently (without the hiccup of the vsync). Stiffer.
  • Fix some edge cases in an old constraint I encountered for which resulted in nans.
  • Fixes 0 length capsule which is a sphere.
Edited by Andrew Wilson

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