mguo/my-master-20220324

[michguo]

Steps to reproduce:

# Checkout the lastest tested commit on the master branch.
git checkout master
git checkout 5429688496ce8094b9da01f4867b1d8ceaa1c330

# Branch off of master
git checkout -b mguo/my-master-20220324

# Merge in the branches we care about.
git merge mguo/impulses
git merge mguo/lcp-result
# Note: when you merge in `mguo/lcp-result`, there will be 3 merge conflicts across the 3 the `BoxedLcpConstraintSolver` files. For all conflicts, accept the incoming changes (a.k.a. changes from `mguo/lcp-result`).

git merge mguo/lcp-utils
git merge mguo/collision-group
git merge mguo/body-node

Build Variant: Release.