[Collision] ADD optional viscous friction at sliding contact points

[aleblanc30]

Add a parameter "drag" to the collision response. When two objects slip past each other, a force of magnitude -drag*relative_velocity is applied to the contact points.

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[hugtalbot]

Hi @aleblanc30
A very nice PR for a first PR! Thanks a lot reviews have been shared to you:

MOR plugin need to be fixed (we will take care of it) and take reviews into account regarding the object registration.

[aleblanc30]

Thank you @hugtalbot, I'm working on it :-)