[SofaGeneralAnimationLoop] MechanicalMatrixMapper timers

[alxbilger]

This is the first PR of a series which the goal is to improve the performances of the MechanicalMatrixMapper.
This PR is based on #2361.

In this PR, manual timers + log are replaced in favor of AdvancedTimers.

This PR serves also as a reference to compare the improvements of the next pull requests. Here are the timings for the MechanicalMatrixMapper.pyscn scene for 1000 time steps measured on my computer:

 LEVEL   START    NUM      MIN     MAX   MEAN     DEV    TOTAL  PERCENT ID
   0       0    1000      74.24  112.80   77.26    2.76 77260.7  100    TOTAL
...
   4       0.80    1      41.79   62.15   44.22    1.53   44.22   57.23 ....MBKBuild
   5       0.99    1      40.91   61.06   43.32    1.47   43.32   56.07 .....MMM-addKToMatrix
   6       0.99    1       1.69    3.69    1.89    0.17    1.89    2.45 ......jacobian
   6       2.88    1       6.29    9.88    6.85    0.34    6.85    8.86 ......stiffness
   6       9.73    1      16.17   23.13   16.55    0.50   16.55   21.42 ......compressStiffnessMatrix
   6      26.28    1       2.74    4.50    2.98    0.16    2.98    3.86 ......copyKToEigen
   6      29.26    1       0.24    0.54    0.28    0.02    0.28    0.36 ......copyJ1J2ToEigen
   7      29.48    1       0.05    0.14    0.06    0.01    0.06    0.08 .......copyJ2ToEigen
   6      29.54    1       9.06   18.67   10.47    0.75   10.47   13.55 ......Multiplication
   7      29.54    1       4.59    9.56    5.44    0.36    5.44    7.04 .......J1tKJ1
   7      34.98    1       0.76    2.15    0.88    0.11    0.88    1.14 .......J2tKJ2
   7      35.86    1       2.73    5.90    3.28    0.35    3.28    4.24 .......J1tKJ2
   7      39.14    1       0.77    1.77    0.86    0.10    0.86    1.12 .......J2tKJ1
   6      40.01    1       2.62    4.70    2.78    0.19    2.78    3.59 ......J1tKJ1-copy
   6      42.79    1       0       0       0       0       0       0    ......J2tKJ2-copy
   6      42.79    1       0.01    0.04    0.01    0       0.01    0.02 ......J1tKJ2-copy
   6      42.80    1       0.01    0.04    0.02    0       0.02    0.03 ......J2tKJ1-copy

Work on the MechanicalMatrixMapper has been done in collaboration with @Esther-R.

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By submitting this pull request, I acknowledge that
I have read, understand, and agree SOFA Developer Certificate of Origin (DCO).

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Reviewers will merge this pull-request only if

• it builds with SUCCESS for all platforms on the CI.
• it does not generate new warnings.
• it does not generate new unit test failures.
• it does not generate new scene test failures.
• it does not break API compatibility.
• it is more than 1 week old (or has fast-merge label).

[olivier-goury]

Thank you for this PR! I am looking forward to the future changes.

[alxbilger]

[ci-build][with-all-tests]