Add method to compute the residual in newtonsolver

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10006 b7f1a160-662a-0410-a6d8-bea165342f16
FIXED CUDA with cublas/cusparse

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10007 b7f1a160-662a-0410-a6d8-bea165342f16
Compliant: another assembly implementation using triplets (added as going along) rather than shift matrices. Deactivated by default, it does not seem more efficient...

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10008 b7f1a160-662a-0410-a6d8-bea165342f16
Compliant: AssembledSolver: added implicit factors (alpha & beta) when the system is solved in acceleration (not yet relevant in velocity)

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10009 b7f1a160-662a-0410-a6d8-bea165342f16