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Add variational optimisation framework to NekMesh

Michael Turner requested to merge meshing/nektar:feature/varopti_NEW into master

This adds the variational mesh optimisation framework to NekMesh. Its now throughly tested for triangle, quad, tet and prism meshes along with triangle/quad and prism/tet hybrid meshes. Although not perfect we've got a pretty good grasp of how it behaves and why. Future work will be to move this code into a library as a "variational solver" where NekMesh utilises this along with alternative solvers.

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