Compliant:
- fixing stiffness matrix for a nul compliance (there was a too large value, now it is using k=1/numeric_limits::epsilon)
- fixing tests (warning in general case, even without stiff force fields, implicit matrix H != M, because of geometric stiffness. Added functions to assemble separatly the mass and the stiffness matrices)

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10566 b7f1a160-662a-0410-a6d8-bea165342f16
fixing compilation: forgotten file

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10567 b7f1a160-662a-0410-a6d8-bea165342f16
Windows compilation fix

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10568 b7f1a160-662a-0410-a6d8-bea165342f16
Compliant: misc python adds

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10569 b7f1a160-662a-0410-a6d8-bea165342f16
SofaPython: added draw callback on script controllers for visual feedback

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10570 b7f1a160-662a-0410-a6d8-bea165342f16
Compliant: some helpers to vec wrappers in python

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10571 b7f1a160-662a-0410-a6d8-bea165342f16
Compliant: added dof naming in contact creation to ease contact force display from python

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10572 b7f1a160-662a-0410-a6d8-bea165342f16
Compliant: LDLTResponse: adding regularization while Eigen::LDLT is not handling semi-definite sparse matrices.

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10573 b7f1a160-662a-0410-a6d8-bea165342f16
Compliant: oups

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10574 b7f1a160-662a-0410-a6d8-bea165342f16
ADD: Windows compilation time greatly decreased using /MP flag

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10575 b7f1a160-662a-0410-a6d8-bea165342f16
Windows compilation fix

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10576 b7f1a160-662a-0410-a6d8-bea165342f16