First working components #8
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This PR adds the components
along with supporting internal components in order to simulate the first very basic systems, such as
This PR depends on
Current limitations
Currently, the World component is a hard-coded constant. This component is required for all models, and a new model-compiler pass that propagates the world component to all other components is required to run before the standard MTK passes. Some equations in multibody components refer to the world component, we need to figure out a way to defer the definition of these equations until the world component is known.