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[SofaSparseSolver] Parallelize the assembly of the compliance matrix for the LDL solver
Complete https://github.com/sofa-framework/sofa/pull/3093 . It parallelize the assembly of the compliance matrix in the same way of the previous PR. I changed some misleading variable name and added comment for future maintenance.
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The last commit may cause conflicts with https://github.com/sofa-framework/sofa/pull/3093 .