Merge topic 'CollisionContextAndSolvers'

4e92d9c1 ENH: Improve support for data reading
9e97b77f ENH: Integration of Assembler.
e5c39a98 ENH: Merge collision context branch.
d2f84191 ENH: Cherry-picked from Ricardo's commit
fe72dc5a ENH: Clean up the code and update examples.
6d66149e ENH: Refactor the FEMSimulator example to use
af2c34df ENH: UpdateFEMSimulator example to use the new
14ce80ff ENH: Clean and refactor the penalty method.
...

Acked-by: Kitware Robot <kwrobot@kitware.com>
Merge-request: !71