[Needle][constraint] Addition of the frictional constraint

[th-skam]

Dependencies

PR InfinyTech3D/CollisionAlgorithm#36 is concurrent and should be merged together with this one.

Additions

• The InsertionResolution class solves a 3x3 block system to satisfy the bilateral constraints and add friction to the system.
  1. Frictional force is computed as it would in case of a bilateral constraint.
  2. The friction coefficient is used to attenuate and reduce it.
  3. The bilateral constraint problem is resolved after fixing the frictional force.
• The ConstraintInsertion class provides the 3 normal directions

Issues

Closes #7