Fix: Rigid manipulation with CompliantAttachButtonSetting component

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@11095 b7f1a160-662a-0410-a6d8-bea165342f16
ADD: a parameter; if true, the stiffness-related data are recomputed on BeginAnimationEvent (in case the Young's modulus changes)


git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@11096 b7f1a160-662a-0410-a6d8-bea165342f16
Compliant: AssembledSolver:
- fixing lambda propagation (with test)
- improving the stability of compliance's contribution to geometric stiffness
WARNING: the multivec "lagrange" is now storing lambda and no longer the constraint force (lambda/dt). The conversion to force is done during propagation and to compute geometric stiffness.


git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@11097 b7f1a160-662a-0410-a6d8-bea165342f16
FIX bug on vector norm computation

git-svn-id: svn://scm.gforge.inria.fr/svnroot/sofa/trunk@11098 b7f1a160-662a-0410-a6d8-bea165342f16