Implemented old Newton solve (i.e., excluding step length). Still debugging.
Implemented old Newton solve (i.e., excluding step length). Still debugging.

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