ChState and ChStateDelta inherited from ChVectorDynamic
Getting rid of old iterators with #define and use std::vector also for links. This allows OpenMP parallelization.
The OpenMP parallelization is experimental: with current settings it gives some performance boost, but it might be improved more.
Matrix functions have been parallelized for multithreading using OpenMP.
All timesteppers have been optimized for speed: local vectors are not created once per timestep, but rather are created once at the beginning, and resized only if needed.
Fallback for automatic computation of acceleration-level residual in constraint equations.
updated demos to reflect new timestepper API
Merge branch 'develop' of https://github.com/projectchrono/chrono into develop