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Rework nodal utilities and add support for nodal prisms

This MR refactors the nodal points utilities that are found in the `NodalUtil.h` and `NodalUtil.cpp` files, and introduces a new `NodalUtil` class which handles the generation of Vandermonde matrices, integration weights, interpolation matrices and derivative matrices for arbitrary sets of points on the triangle, tetrahedron and prism elements. The latter element is newly supported.

This branch:
- Significantly reduces the amount of code from sporadic function calls to a more organised class structure, eliminating most duplicate code
- Fixes a bug in the generation of nodal tetrahedral weights
- Enables the use of nodal prism elements
- Adds a lot of doxygen documentation to describe the new structure
- Replaces the NodalUtil demos with a single NodalDemo, which is now tested in the regression tests

This should be seen as a stepping-stone branch, depending on the outcome of the working being done in the feature/basis-refactor branch, but will hopefully make any further efforts easier.

See merge request !660

feature/cadsystem_factories

This merge takes the existing OCE cad engine and turns it into a more general system where OCE is the default backend.
This is in preparation of CFI and other installation dependant backends being added.
All tests pass (these are not on buildbot yet).

See merge request !676

feature/prisms only linearise

In an effort to reduce cost on massive meshes, this makes the linearise module only consider prisms (which is most cases are the only deformed elements

See merge request !688

Update user guide

A quick update of the user guide to reflect latest VS and boost releases as well as additional steps to be undertaken for compiling under Windows

See merge request !692

Additional required package for compiling the documentation on very basic systems (e.g. Win10's linux subsystem)

Fix error message for missing fld files

This should fix #35, which is related to some Hdf5 errors being displayed instead of a nice error message when we try to use an .fld file which does not exist.

See merge request !689

Improve performance of incompressible solver

This MR contains improvements to the performance of the incompressible solver (some of the changes might also help in other cases).

I worked on these changes based on a profiling of the `Cyl.xml` example (2D, N=5, using both tris and quads). For this particular case (in serial), I got a reduction of computational cost close to 30%, although I suspect simulations with higher order or in 3D will get more modest improvements.

The main changes are:

- Use a virtual function to make UnsteadySystem skip the FwdTrans it performs after each time step, since this is completely redundant for the incompressible solver
- Introduce a parameter to choose the frequency at which the solver checks for NaNs
- Tweak the default value of the mdswitch parameter for the multilevelstaticcond, and also allow to specify it in the session file
- Include PhysDeriv in a single direction in the Collections, since we need it to compute div(u) for the pressure forcing
- Use symmetric matrices for the interior part of the static cond (whenever possible)
- Several small changes to reduce overhead costs, especially in matrix vector multiplications.


See merge request !645

Fix time-integration for VCSMapping

This fixes some inconsistencies in VCSMapping which prevented it from achieving 2nd order accuracy in time.

See merge request !687

Added missing GetRowComm in AllReduce call.

This MR fixes the IterativeFull solver to work in parallel.

See merge request !685

Conflicts:
	CHANGELOG.md

Fix/changelog

This just adds missing entries to the changelog. When cherry-picked to the release branch this should also remove a duplicate header which appeared there for v4.3.4.

See merge request !686