Modifications in time invariant case :     - computeSizeOutput , updateBlocks and assembleM are done just once at init     - z and w are set to 0 just once at init (thus the previous step result is used as       initial guess of the current step LCP solving)
Modifications in time invariant case :
    - computeSizeOutput , updateBlocks and assembleM are done just once at init
    - z and w are set to 0 just once at init (thus the previous step result is used as
      initial guess of the current step LCP solving)


git-svn-id: de9bbed4c30e0eb58fe8e7d66f5c80b71699a07c@541 bf01a9d7-0df3-0310-8ad4-b1c94d9ae2d5

radarsat1/siconos,radarsat1/siconos,siconos/siconos,siconos/siconos-deb,radarsat1/siconos,bremond/siconos,fperignon/siconos,siconos/siconos-deb,bremond/siconos,fperignon/siconos,radarsat1/siconos,fperignon/siconos,siconos/siconos-deb,bremond/siconos,bremond/siconos,siconos/siconos,fperignon/siconos,fperignon/siconos,bremond/siconos,siconos/siconos-deb,siconos/siconos,siconos/siconos-deb,siconos/siconos,siconos/siconos-deb,radarsat1/siconos