### Instrument visual model

Description:
Using LCP contact detection and resolution:
Added a driver for the Omni phantom device
Added a mechanical state controller that gathers data from the phantom and updates the position of a representation of the device in the simulation
Added a computation (LCPForceFeedback) of the haptic forces
Added VectorSpringForceField && JointSpringForceField to link the movements of the Omni phantom and the instrument

### Redo this tutorial with distance grid collision