Move all the contact manifold computations out of Rapier.

src/dynamics/solver/joint_constraint/prismatic_velocity_constraint.rs

@@ -8,7 +8,7 @@ use crate::utils::{WAngularInertia, WCross, WCrossMatrix};
 use na::{Cholesky, Matrix3x2, Matrix5, Vector5, U2, U3};
 #[cfg(feature = "dim2")]
 use {
-    crate::utils::SdpMatrix2,
+    eagl::utils::SdpMatrix2,
     na::{Matrix2, Vector2},
 };