Add: compatibility with Compliant Solvers

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@11294 b7f1a160-662a-0410-a6d8-bea165342f16
Fix: compilation on Linux

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@11295 b7f1a160-662a-0410-a6d8-bea165342f16
Compliant: get pointers to constraint value and projector components (or add fallbacks) only once per step (during the assembly) and store it in AssembledSystem. ODE and numerical solvers can use them directly.

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@11296 b7f1a160-662a-0410-a6d8-bea165342f16
Compliant: cleaning bielle-manivelle example

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@11297 b7f1a160-662a-0410-a6d8-bea165342f16