Remove solver iteration loop #121
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Jondolf
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Removes
IterationCountand the solver iteration loop.It's recommended to use 1 iteration and multiple substeps due to better convergence, so the iteration loop is quite redundant. The delta time given to constraints was also incorrect when there were many iterations, because the iteration count wasn't being taken into account for the delta time, which can result in overshooting.
I also updated the simulation loop docs.