feat: make the constraints regularization coefficients confiugrable with angular frequency instead of explicit ERP#635
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…ith angular frequency instead of explicit ERP
…act_damping_ratio
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Modified
erp/damping_ratiotonatural_frequency/damping_ratio. This helps define them in a timestep-length independent way. The new variablesare named
IntegrationParameters::contact_natural_frequencyandIntegrationParameters::contact_damping_ratio.solver.