Add sphere collision unit test, and sphere/triangle intersection bug fixed

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10010 b7f1a160-662a-0410-a6d8-bea165342f16
adding DofPrintVisitor dumping a mechanical object vector identified by its name

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10011 b7f1a160-662a-0410-a6d8-bea165342f16
Compliant:
- fixing damping in case of material treated as constraints (also working for rayleigh damping). B is always located in the top-left corner matrix.
- FEM-donuts example is comparing all way to solve the system (velocity/acceleration with rayleigh damping, material damping, material as stiffness or compliant...)

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10012 b7f1a160-662a-0410-a6d8-bea165342f16
cmake: added an error message in CGALPlugin makelist if full boost is not used.

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10013 b7f1a160-662a-0410-a6d8-bea165342f16
Compliant: new file organization

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10014 b7f1a160-662a-0410-a6d8-bea165342f16
fixing a warning

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10015 b7f1a160-662a-0410-a6d8-bea165342f16
fixing CUDA math warnings

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10016 b7f1a160-662a-0410-a6d8-bea165342f16
fixing warnings

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10017 b7f1a160-662a-0410-a6d8-bea165342f16
fixing compil

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10018 b7f1a160-662a-0410-a6d8-bea165342f16