adding an openmp multithreaded implementation of the  Eigen::SparseMatrix multiplication (with its unitary test and a benchmark)
adding EigenBaseSparseMatrix::mul_MT based on this multithreaded implementation

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10414 b7f1a160-662a-0410-a6d8-bea165342f16
Compliant: fixed nasty bug in contacts introduced by barycentric mapper changes.

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10415 b7f1a160-662a-0410-a6d8-bea165342f16
Compliant: searching collision bug...

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10416 b7f1a160-662a-0410-a6d8-bea165342f16
Compliant: fixed friction projection

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10417 b7f1a160-662a-0410-a6d8-bea165342f16
Compliant: pid python minor changes

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10418 b7f1a160-662a-0410-a6d8-bea165342f16
Compliant: added angular limits for revolute joints in python api

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10419 b7f1a160-662a-0410-a6d8-bea165342f16
Compliant: added collision groups to compliant python api

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10420 b7f1a160-662a-0410-a6d8-bea165342f16
Compliant: lagrange multipliers propagation visitor may now use internal assembly visitor order

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10421 b7f1a160-662a-0410-a6d8-bea165342f16
Compliant: a little doc on python files + compilation fix

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10422 b7f1a160-662a-0410-a6d8-bea165342f16
Compliant: fixed contact bug. local barycentric coordinates for contacts are wrong, so we don't use them. this used to be the case until a change in barycentric contact mapper trigger their use.

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10423 b7f1a160-662a-0410-a6d8-bea165342f16
WARNING : changes BarycentricMapping.inl, function BarycentricMapperMeshTopology<In,Out>::createPointInTriangle can now compute triangle barycentric coordinates for points outside the triangle. Triangle/Point intersection bug fix

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10424 b7f1a160-662a-0410-a6d8-bea165342f16
Compilation fix number 1

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10425 b7f1a160-662a-0410-a6d8-bea165342f16
Compilation fix number 2

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10426 b7f1a160-662a-0410-a6d8-bea165342f16
Compilation fix number 3

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10427 b7f1a160-662a-0410-a6d8-bea165342f16