- Implicit surface contact method refineImplicitPair() was giving up too early in some cases. (Seen with very eccentric ellipsoid-ellipsoid contact in overlapping configurations.) I changed it to allow some slow progress at first since the starting guesses are not always very good. - There was a possible infinite loop in refineImplicitPair(); I put a guard in for that. - Added a central difference Jacobian calculation for testing and left it commented out; it doesn't seem necessary.
- Implicit surface contact method refineImplicitPair() was giving up too early in some cases. (Seen with very eccentric ellipsoid-ellipsoid contact in overlapping configurations.) I changed it to allow some slow progress at first since the starting guesses are not always very good.
- There was a possible infinite loop in refineImplicitPair(); I put a guard in for that.
- Added a central difference Jacobian calculation for testing and left it commented out; it doesn't seem necessary.

scamille/simbody,simbody/simbody,Gjacquenot/simbody,Gjacquenot/simbody,Gjacquenot/simbody,scamille/simbody,elen4/simbody,chrisdembia/simbody,elkingtonmcb/simbody,robojukie/simbody,scamille/simbody,elkingtonmcb/simbody,chrisdembia/simbody,robojukie/simbody,elkingtonmcb/simbody,elen4/simbody,robojukie/simbody,chrisdembia/simbody,simbody/simbody