The clamping value is not passed by integrator anymore, it is the ChIntegrable that must take care of it when computing constraint residual C
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Fixed a problem in the Euler linearized 1st order (the Anitescu timestepper)
Fixed a bug with offsets in case of quaternions in state
The + operator overloading does not work here, I do not know why, it defaults to + between ChMatrix , so I had to call  StateIncrement directly
Debug stuff to dump matrices
First tests with the new timesteppers. Currently, only the ChTimestepperEulerImplicitLinearized seems to work....