[Compliant] adding RigidRestJointMapping to compute a joint between a rigid body's current position and its rest position.
[Compliant] adding RigidRestJointMapping to compute a joint between a rigid body's current position and its rest position.


Former-commit-id: a788cefd7bf1de90f3338d55665512eca46b3464
FabienPean/sofa,Anatoscope/sofa,FabienPean/sofa,hdeling/sofa,hdeling/sofa,Anatoscope/sofa,hdeling/sofa,hdeling/sofa,Anatoscope/sofa,FabienPean/sofa,FabienPean/sofa,FabienPean/sofa,FabienPean/sofa,hdeling/sofa,hdeling/sofa,hdeling/sofa,FabienPean/sofa,Anatoscope/sofa,hdeling/sofa,FabienPean/sofa,FabienPean/sofa,Anatoscope/sofa,FabienPean/sofa,hdeling/sofa,Anatoscope/sofa,Anatoscope/sofa,Anatoscope/sofa,hdeling/sofa,Anatoscope/sofa