Self collision fix, collisions appear once

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10577 b7f1a160-662a-0410-a6d8-bea165342f16
Compliant: fixing DifferenceMapping (the jacobian was wrong and no more sorting)

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10578 b7f1a160-662a-0410-a6d8-bea165342f16
CHANGE: minor changes in patch test.

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10579 b7f1a160-662a-0410-a6d8-bea165342f16
Compliant: adding an contact example mixing spheres in different mechanical objects and in the same mechanical object to generate both inter-collisions and self-collisions

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10580 b7f1a160-662a-0410-a6d8-bea165342f16
Bind init & reset function for python

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10581 b7f1a160-662a-0410-a6d8-bea165342f16
The CGoGN::Traversor class has no more its MAP template parameter

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10582 b7f1a160-662a-0410-a6d8-bea165342f16
Compliant: minor adds to python scripts

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10583 b7f1a160-662a-0410-a6d8-bea165342f16
Compliant: reverted to 'map' in utils/map.h, added namespace instead (this is what namespaces are for anyways)

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10584 b7f1a160-662a-0410-a6d8-bea165342f16
Compliant: added AffineMultiMapping for easy general-purpose mappings from python

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10585 b7f1a160-662a-0410-a6d8-bea165342f16
Compliant: fixing DifferenceMapping to ensure to fill the eigen sparse matrix in the right order

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10586 b7f1a160-662a-0410-a6d8-bea165342f16
BoxROI engine : add quads in ROI 

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10587 b7f1a160-662a-0410-a6d8-bea165342f16