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Integration of Hard Contact Solvers into MESA-PD

Tobias Leemann requested to merge iq72ehiq/walberlawork:MESAPDHardContactSolvers into master

The Hard-Contact solvers of the pe framework were ported and adopted for MESA-PD. The Additional Contact Model "Projected Gauss-Seidel-Method" has been implemented an allows also partially elastic contacts.

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