feat: make the constraints regularization coefficients configurable with angular frequency instead of explicit ERP

src/dynamics/solver/contact_constraint/one_body_constraint.rs

@@ -333,7 +333,8 @@ impl OneBodyConstraintBuilder {
             }
         }
 
-        constraint.cfm_factor = if is_fast_contact { 1.0 } else { cfm_factor };
+        constraint.cfm_factor = cfm_factor;
+        // constraint.cfm_factor = if is_fast_contact { 1.0 } else { cfm_factor };
     }
 }