Changes

[all] Matrix: replace all calls to [i][j] with a single call (i,j) (#5650)

* replace in animation loop

* replace in collision

* replace in constraint

* debug: add assertion ;; replace in type

* replace in helper

* replace in linearalgebra

* replace in defaulttype

* replace in core

* compile AnimationLoop

* compile Mapping

* compile LinearSolver

* compile FEM.HyperE

* compile FEM.Elastic

* compile FEM.NonUni

* compile Spring

* compile MechaLoad

* compile Engine

* compile Collision

* compile MT

* compile full Mat

* compile gl

* restore operator []

* restore [] for lines

* Update Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMappers/BarycentricMapperMeshTopology.inl

Co-authored-by: Themis Skamagkis <70031729+th-skam@users.noreply.github.com>

* fix typo (from copy paste...)

* forgotten case

* fix tests compilation

* fix bad copy paste

Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com>

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Co-authored-by: Themis Skamagkis <70031729+th-skam@users.noreply.github.com>
Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com>

[Examples] Fix MultiStepAnimationLoop scene (#5700)

make the multistepanimationloop scene work again

Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com>

[GL] DrawToolGL: faster rendering for Frame (#5689)

* faster way to render a frame in legacy opengl

* clean and use buffers

* add example rendering lots of frames

* rename

* correct lengths

* Apply suggestions from code review

Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com>

* fix compilation for clang

* use fast approx version of cos/sin

* restore unrelated files

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Co-authored-by: Paul Baksic <30337881+bakpaul@users.noreply.github.com>

[Type] Vec: Phase out ctor/assignment from pointers and Vec of different sizes/types (#5675)

* wip

* wip

* wip

* explicit conversion for vec3 (draw usually)

* explicit conversion for other cases of assignments

* ctors too

* use dedicated macros

* fix stl binary read

* change toVecN signature, and add an other convenience function taking the output type as template

* add unit tests

* add the possibility to fill with something else than 0

* put the filler as arg, not template ; as older clangs dont support non-type template parameters of floating-point types

[all] Fix out-of-bounds warnings (#5677)

fix potential out-of-bounds accesses

 [Examples] Fix RayTraceCollision scene (#5708)

fix rayintersection scene by decreasing dt

Co-authored-by: erik pernod <erik.pernod@gmail.com>

First working version of exploded constraint problrms. Still lots of info in GenericCosntraintSolver data that are dependent on the method type. Need to find a way of setting the solving method by adding a component in the scene.

Changed all problems into solvers. It makes more sense to use an inheritance. Now the constraintProblem is only a container

Apply changes to scenes, tests and tutorials

Apply review comments

change ownership of d_multithreading