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PbdRbd Grasping Fixes, Fix PbdBodyToBodyDistanceConstraint, Other Cleanups

Andrew Wilson requested to merge andrew.wilson/iMSTK:GraspingFixes into master

Now that all PbdCollisionConstraints are solved in the same spot a couple of spots like grasping and stitching started to try to run the correctVelocity step for friction and restitution, which was invalid in some cases. This adds a check on lambda to verify whether the constraint was even applied at all. Particularly when the constraint did not run (return false or c=0) this would produce nans and grasping would fail.

Edited by Andrew Wilson

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