Compliant: adding lagrange multipliers warm start

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@9677 b7f1a160-662a-0410-a6d8-bea165342f16
Compliant: added optional lambdas propagation at the end of time-step

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@9678 b7f1a160-662a-0410-a6d8-bea165342f16
EulerImplicitSolver: fixed de-allocation of locally allocated vector.

Note: CollisionGroupManager seems to create a new group between collliding objets at each time step preventing to store the previous solution, so warm-start does not work for solvers created by a CollisionGroupManager.

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@9679 b7f1a160-662a-0410-a6d8-bea165342f16
Compliant: correct release of lambda state vector. reflected changes in MultiVec API.

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@9680 b7f1a160-662a-0410-a6d8-bea165342f16
Flexible: removed separated assembleK,assembleC/assembleB for Materials by only assemble that assemble every matrices (the same for assembleJ/assembleK for mappings)
+ fixed a strange bug when assembling both K and B in hooke material it was unstable. Is it due to a strange EigenSparseMatrix stuff or map_traits<VecDeriv>? By multiplying on the VecDeriv rather than the Data<VecDeriv> it seems ok. But still there is something unclear somewhere...

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@9681 b7f1a160-662a-0410-a6d8-bea165342f16
Flexible: forgotten files

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@9682 b7f1a160-662a-0410-a6d8-bea165342f16
Compliant: fixed inconsistency in state vector alloc/release

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@9683 b7f1a160-662a-0410-a6d8-bea165342f16