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ENH: Improving stability of collision constraints near a boundary condition.

Jacob Moore requested to merge feature/BCContactSability into master

This change increases the stability of the PBD solver when contacting a point near or at a boundary condition. Its not a perfect fix, but the solution explodes much less often now. Tied to #433 (closed).

PR Checklist

  • No API changes were made (or the changes have been approved)
  • No major design changes were made (or the changes have been approved)
  • No new dependecies were added (or the new dependencies have been approved)
  • Added test (or behavior not changed)
  • Updated API documentation (or API not changed)
  • Ran the CodeFormatEnforcer task and verified the license header is in all new files
  • Added iMSTK examples for all new major features (if any)
Edited by Jacob Moore

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