Wisdem

This is a release with a good deal of improvements:

- Support for rectangular members on floating platforms
- More robust input file and yaml reader
- Refactoring of glue code to minimize implicit iteration footprint (15-20% speedup)
- Improved method for mode shape coefficients for ElastoDyn
- Documentation improvements, especially for user customization
- Changes to keep pace with upstream OpenMDAO modifications
- Many other bug fixes

Many backend improvements and bug fixes in this release:

- Multiple fixes to the `compare_designs` routine following the enhancements to the composite layer optimization capability in the prior release
- Fix some typos in the user-defined constraints introduced in the prior release
- Ability to use the nice DifferentialEvolution heuristic optimization driver in OpenMDAO
- Alignment with the latest OpenMDAO release
- Switch to a python-based PreComp, instead of the compiled Fortran version to fix some of the Windows compilation struggles
- Fix and old bug on the rotation of the airfoil sections sent to PreComp for analysis
- Lots of small syntax changes to address deprecation warnings in third-party libraries
- Fix bug in calculation of bedplate mass for direct-drive downwind configurations
- Fix multiple bugs in the DNVGL structural code checks, especially for longitudinal stiffeners
- Capability for thrust-constrained design optimization

The PR brings in several changes:
Blade structure can be parametrized in the thickness of each layer, not only spar caps and reinforcements
There are new blade constraints to support inverse design studies (desired blade mass, desired natural frequencies)
New example and documentation to support inverse design
Update of installation steps (mamba)
Turbine gearbox can be desired with a desired torque density
User specified DVs, figure of merit, and constraints in support of WEIS Phase II
Strengthening of the sub-optimization to determine pitch angle across wind speeds in rotor_power.py
Cd0 no longer hard coded to 0
The list probably goes on