Soft mesh collision

[jslee02]

Since soft flesh consists of point masses, we select the nearest point mass from a contact point on the mesh, and apply contact force to the point mass. Somehow we gets following error message from ODE LCP solver during contact force solving because of the nearest point mass selection.

ODE Message 3: LCP internal error, s <= 0 (s=0.0000e+00)

[stale]

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