Compliant: misc improvements to python modules

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10465 b7f1a160-662a-0410-a6d8-bea165342f16
Compliant: added script-event-based machinery to automatically create python script controller and retrieve its python handle. you need to derive from Compliant.Script.Base, then call script = Compliant.Script.insert(node, filename = ..., classname = ...)

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10466 b7f1a160-662a-0410-a6d8-bea165342f16
Compliant: fixed BaseConstraintValue + Stabilization badly initialized mask data. Fixes angular_spring.py example.

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10467 b7f1a160-662a-0410-a6d8-bea165342f16
Compliant: added (and made default) simpler dlog computation for rotational rigid joints. fixes unstable jacobian around half-turns.

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10468 b7f1a160-662a-0410-a6d8-bea165342f16
Compliant: improved rigid link mappings, removed zero mapping lines (minres was fine, but others not). Also, joints now only have constraints, if you need angular stiffness/damping, set it yourself on joint dofs. See angular_spring.py example for details.

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10469 b7f1a160-662a-0410-a6d8-bea165342f16
Compliant: reverted H matrices filtering by P matrices, as it pretty much breaks everything. H should be invertible (i.e. non filtered). If you need projection, you have to do it in KKTSolvers.

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10470 b7f1a160-662a-0410-a6d8-bea165342f16
Compliant:
- adding AssembledSolver::perform_assembly that can be derivated to eventually change the way to assemble
- replacing AssembledSolver::constant by a new component ConstantAssembledSolver that pre-assemble the system at the first step

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@10471 b7f1a160-662a-0410-a6d8-bea165342f16