Component states : update of component /data

[hugtalbot]

A mechanism of component state is now available while it is still unused and the API is not spread over the code base.

We could work on generalizing it : delegating all functions (init, addForce etc) to make sure it uses the componentState. Then, internal update of component would be possible and check in the scene graph of each component would allow to detect issues and prevent from crashes.

Initially, this issue was only focused on "Deprecate the doUpdateInternal" : this API of internal update in BaseObjects should be removed and callbacks should be spread instead. As noticed in #1979

[ChristianDuriez]

I think that this task is connected to several topics:

• connection of SOFA with other libraries (other modeling / visualization / collision tools)
• adapt the simulation pipeline and have more control on it (ASSIST..)
• hot restart of the simulation
• helping the debug (which is not due to C++ problem but wrong parametrization / init of the simulation)