WARNING : changes in BarycentricPenaltyContact to make it work. It doesn't work because of the revision 10382, details are at line 189 of the file. This change is not final.

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10428 b7f1a160-662a-0410-a6d8-bea165342f16
Compliant: fixed multiple PIDs on same joint

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10429 b7f1a160-662a-0410-a6d8-bea165342f16
Compliant: fixed projection mapping offsets

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10430 b7f1a160-662a-0410-a6d8-bea165342f16
Compliant: added proxy objects for vectors in python api

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10431 b7f1a160-662a-0410-a6d8-bea165342f16
Compliant: added RigidComMultiMapping to compute CoM from different rigid dofs. mass must be provided.

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10432 b7f1a160-662a-0410-a6d8-bea165342f16