[Major] JointDense with dynamic size.

src/algorithm/center-of-mass.hpp

src/algorithm/crba.hpp

src/algorithm/jacobian.hpp

src/multibody/constraint.hpp

src/multibody/joint/joint-base.hpp

src/multibody/joint/joint-variant.hpp

src/simulation/compute-all-terms.hpp

src/spatial/inertia.hpp