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Limit maxIterations to 1 for semi-implicit stepping

Merged Jianfeng Yan requested to merge _transfer-jianfengyan/iMSTK:newton-semiimplicit into master
  • limit max iterations for linear solve in Newton to 1 for semi-implicit stepping
  • define default InternalForceModel::getForceAndMatrix
  • add NonLinearSystem::m_F_dF. NonLinearSystem constructor now optionally takes in a functor that computes both residual and Jacobian.
  • add FEMDeformableBodyModel::getFunctionAndGradient, which calls computeSemiImplicitSystemRHSAndLHS or computeSemiImplicitSystemRHSAndLHS. This increases the speed of NewtonSolver::updateJacobian by 30~40% for the heart case, and the FPS of it from 20 to 25+ on my system.
Edited by Jianfeng Yan