Compliant: rigid inertia forces fix

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10299 b7f1a160-662a-0410-a6d8-bea165342f16
Compliant: misc tweaks to python scripts

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10300 b7f1a160-662a-0410-a6d8-bea165342f16
Compliant: separated dof filtering from RigidJointMapping, see MaskMapping. updated python scripts to use it.

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10301 b7f1a160-662a-0410-a6d8-bea165342f16
Compliant: added FailNode for testing purpose.

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10302 b7f1a160-662a-0410-a6d8-bea165342f16
Compliant: added top_down/bottom_up methods to AssemblyVisitor, to call an external visitor based on internal graph (testing)

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10303 b7f1a160-662a-0410-a6d8-bea165342f16
Compliant: added assembled (multi)mapping debugging functions

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10304 b7f1a160-662a-0410-a6d8-bea165342f16
Compliant: worked around bogus bottom-up traversal in the case of multi-mappings (mapped forces are incorrect !). Fixing DAGNode was too complex, so I reused internal assembly visitor data structures to execute visitor. seems to work.

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10305 b7f1a160-662a-0410-a6d8-bea165342f16
Compliant: removed constraint-related warning messages in assembled multi-mappings

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10306 b7f1a160-662a-0410-a6d8-bea165342f16
Compliant: added simple PID controller python example (2 links arms)

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10307 b7f1a160-662a-0410-a6d8-bea165342f16
Compliant: fixed bielle_manivelle scene. seems like PlanarJoint does not work :-/

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10308 b7f1a160-662a-0410-a6d8-bea165342f16
ADD: ColladaSceneLoader - collision models generation is now optional

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10309 b7f1a160-662a-0410-a6d8-bea165342f16