FIX: clear solver vector to prevent from push-backing the same solver after simulation re-init


git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@9477 b7f1a160-662a-0410-a6d8-bea165342f16
CHANGE: cmake version verification is now done only in the Sofa main CMakeLists.txt and not in every cmake files
ADD (builds and runs): CenterOfMassMultiMappingChain, CenterOfMassMulti2MappingChain
FIX: runSofa SofaSimulationGraph (DAG) usage

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@9478 b7f1a160-662a-0410-a6d8-bea165342f16
Compliant: added wrench moving to SE3 utils

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@9479 b7f1a160-662a-0410-a6d8-bea165342f16