[kernel] change the default solver for frictional contact in GMP
[kernel] change the default solver for frictional contact in GMP

siconos/siconos,radarsat1/siconos,siconos/siconos,radarsat1/siconos,radarsat1/siconos,siconos/siconos,radarsat1/siconos,radarsat1/siconos,siconos/siconos