[Constraint.Lagrangian] Add the NNCG as NLCP solver in GenericCS

[hugtalbot]

Based on @ziqiu-zeng implementation, this adds the Non-smooth Non-linear Conjugate Gradient (NNCG) as an alternative to the Projective Gauss Seidel (PGS) as NLCP solver in the GenericConstraintSolver.

• an option resolutionMethod is added with options: "ProjectedGaussSeidel", "UnbuiltGaussSeidel" or "NonsmoothNonlinearConjugateGradient" and 3 associated examples are provided for each option.
• a useless data schemeCorrection was also deprecated and removed.

Documentation updated: https://github.com/sofa-framework/doc/pull/74

.. wonder if the PR name includes enough acronyms .. :thinking:

[ci-depends-on https://github.com/sofa-framework/Regression/pull/27]

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[hugtalbot]

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

[fredroy]

.. wonder if the PR name includes enough acronyms .. 🤔

... it feels like the french administration 🥸

[fredroy]

As you renamed the BilateralInteractionConstraint, you will need to recreate/regenerate regression tests associated too 🤫

[hugtalbot]

Duplicated code should be factorized, and naming of data should be shorter

[sofabot]

[ci-depends-on] detected during build #6.

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[sofabot]

[ci-depends-on] detected during build #7.

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[hugtalbot]

Renaming of data, factorization of the code done dear reviewers @fredroy @alxbilger

[sofabot]

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

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[fredroy]

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

[sofabot]

[ci-depends-on] detected during build #9.

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[sofabot]

[ci-depends-on] detected during build #10.

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[sofabot]

[ci-depends-on] detected during build #11.

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[sofabot]

[ci-depends-on] detected during build #12.

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[hugtalbot]

Create separate functions in buildSystem. Avoid using else function with the d_resolutionMethod. Add a regression scene with unbuilt.

[sofabot]

[ci-depends-on] detected during build #13.

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[hugtalbot]

review taken into account @alxbilger

[hugtalbot]

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

[sofabot]

[ci-depends-on] detected during build #14.

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[fredroy]

🟢🚦🟢