Update contact point solver using more robust quartic solver #1
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I've never been very happy with the contact points solver so it would be nice to update it to something more robust. This branch has a better solver, but everything is a bit finicky so I haven't finished the full implementation. I've also posted some notes here: https://gist.github.com/dfm/db9858cd73adb9aae385cc55f8d2d4ac