Simulation scenario/external force #127
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ForceControllerTemplate. Теперь называетсяForceChronoWrapperи выполняет функцию обертки для задания сил в симуляции Chrono. Для задания и создания сил используется наследники классаForceTemplate. Для него необходимо переопределять методcalculate_spatial_force(time, data)