`ElasticFoundationForce` seems to only respect mesh-mesh interactions

[nickbianco]

Reported by Haedo Cho on the OpenSim forum.

Within ElasticFoundationForce::extendAddToSystem(), the contact parameters for a contact geometry are only set if it is a ContactMesh. The class documentation seems to suggest that only ContactMesh elements are recognized, but it is not fully clear. Furthermore, SimTK::ElasticFoundationForce respects all triangle mesh contacts, which arise from half space-mesh, sphere-mesh, and mesh-mesh interactions.

So, we should either clarify the documentation for the existing behavior, or support sphere-mesh and half space-mesh interactions in OpenSim.

[nickbianco]

Similarly, ContactCylinder and ContactTorus do not interact with HuntCrossleyForce or ElasticFoundationForce.