some useles #ifdef SOFA_DEV removed from code

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@9965 b7f1a160-662a-0410-a6d8-bea165342f16
Continuous collision optimization.

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@9966 b7f1a160-662a-0410-a6d8-bea165342f16