Compliant: fixed state vector selection for solving

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@9777 b7f1a160-662a-0410-a6d8-bea165342f16
no need for extra variable

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@9778 b7f1a160-662a-0410-a6d8-bea165342f16
Collision: more common code between Sphere/RigidSphere

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@9779 b7f1a160-662a-0410-a6d8-bea165342f16
Add capacity function in cudamatrix

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@9780 b7f1a160-662a-0410-a6d8-bea165342f16
update Image and Flexible : meshless simulation using branching images. 

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@9781 b7f1a160-662a-0410-a6d8-bea165342f16