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Add viscous damping model of [Brilliantov1996] and [Mueller2011] for velocity-dependent CoR in the Hertz-Mindlin contact model

Vasileios Angelidakis requested to merge velocityDependentCoRHertzMindlin into master

In this MR I push the viscous damping model of [Brilliantov1996] and [Mueller2011] for velocity-dependent coefficient of restitution (CoR) in the Hertz-Mindlin contact model. We wrote this with @Kan-yu, who developed a neat function to calculate the dissipative parameter A used in this model, based on the CoR at a given impact velocity.

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