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Several updates, optimizations and fixes mainly related to automatic differentiation

Reinhard Resch requested to merge sp_gradient-update into develop

This branch includes the following enhancements and fixes:

  • automatic differentiation support for beam, rigid body, modal body, automatic structural, total joint and total pin joint
  • fix compilation of parallel naive solver
  • fix memory leaks in parallel naive solver
  • fix missing derivatives update of modal node
  • optimize dot product in sp_matrix_base.h
  • add new unit tests in sp_gradient_test.cc
  • add automatic differentiation support for constitutive laws
  • fix double free in parsinc.cc
  • fix invalid memory access in dataman.cc

Please let me know, if you want to apply only a subset of those changes. Then I can provide separate branches.

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