[Framework] Apply template method design pattern to ConstraintSolver

[olivierrochel-inria]

Changed:

• solveConstraint
• prepareStates
• buildSystem
• rebuildSystem
• solveSystem
• applyCorrection
• computeResidual
• removeConstraintCorrection

[ci-depends-on https://github.com/SofaDefrost/SoftRobots.Inverse/pull/82]
[with-all-tests]

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• 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).

[olivierrochel-inria]

[ci-build][with-all-tests]

[olivierrochel-inria]

[ci-build][with-all-tests]

[bakpaul]

[ci-build][force-full-build]

[sofabot]

[ci-depends-on] detected during build #8.

To unlock the merge button, you must

• Merge or close Apply template method pattern from main refactoring SofaDefrost/SoftRobots.Inverse#82
  For this build, the following CMake flags will be set
  -DSOFTROBOTS_INVERSE_GIT_REPOSITORY='https://github.com/SofaDefrost/SoftRobots.Inverse'
  -DSOFTROBOTS_INVERSE_GIT_TAG='ba2f88b5f11fc61613e92ee66a73926239ab2d58'