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Refactor SD update
The former use of multiple boolean control variables made the logic hard to follow. Without constraints, the two parts of the integrator are fused, which is now expressed explicitly. This means it is now clear that the second half of the sd update does not compute anything from the foreces. Removed some of the vestiges of the way we once had two SD integrators. Refs #2423, #1793 Change-Id: I39d4cd0b8568859220b3a592b138f3f4405f8991
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