Compliant: adding PenalityCompliantContact (could be improved, it is more a proof of concept and a good debug tool)

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10666 b7f1a160-662a-0410-a6d8-bea165342f16
fixing compilation

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10667 b7f1a160-662a-0410-a6d8-bea165342f16