[PersistentContact] Update the plugin according to SOFA changes

[alxbilger]

This is a final effort to fix the compilation of this plugin. Since it was not used and not updated for a long time, I suggest to archive it in another repository.

It compiles, but I did not test the components.

The only issue during the fixing process was in PersistentFrictionContact.inl. I could not fix the lines with o->baryCoords because it was removed in #1048. I added the following comment:

//baryCoord was removed in https://github.com/sofa-framework/sofa/pull/1048

Therefore, the component PersistentFrictionContact cannot work as before.

Fixes #5712

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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).