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fix: [#2368] elastic collisions & degree of freedom (#2369) master

Closes #2368 This PR corrects the math around elastic collisions in the realistic collision solver, elastic collisions now preserve energy as expected. Additionally this PR also fixes an issue with the degrees of freedom limiter ![bouncy](https://user-images.githubusercontent.com/612071/175856506-17f3f6d5-d7af-4b1f-96d8-639205a04078.gif)

Author Erik Onarheim Committer GitHub Date Commit 8d45e35e Parent 3a6ab6ec