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Add implicit support to Millard2012EquilibriumMuscle #2711

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@chrisdembia

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@chrisdembia

In #2687 @mjhmilla said

Is there interest in an implicit version of the 2012 Equilibrium model? If yes, this is something I could start to work on. It should require some modest changes to the curves (so that the gradients don't go to zero) and one additional function.

https://github.com/opensim-org/opensim-moco contains DeGrooteFregly2016Muscle that provides an implicit form and which we use extensively in Moco.

It would be great to also add implicit support to the 2012 Equilibrium model.

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