[AnimationLoop] Remove duplicated Constraint Visitors

[fredroy]

ConstraintAL contains 3 visitors which seems to be duplicated with other in simulation::core and constraint.lagrangian.solver

• MechanicalGetConstraintResolutionVisitor Almost similar class (with the same name) in Constraint.Lagrangian.Solver and AnimationLoop. The one in AnimationLoop allows setting a custom offset with its ctor (whereas the one in C.L.S is 0) so I added the same feature with a default value. Slightly breaking because cparams are named differently 😅

• MechanicalAccumulateConstraint2 -> MechanicalAccumulateMatrixDeriv nice 2at the end 😅 MechanicalAccumulateConstraint2 is less complete than the other one so there should be no compat problem

• MechanicalSetConstraint -> MechanicalAccumulateMatrixDeriv MechanicalSetConstraint also set a constraintId (MechanicalAccumulateMatrixDeriv does not) but it seems that this id is actually never used in implemented constraints (m_cid). In any case I add the set in MechanicalAccumulateMatrixDeriv.

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[fredroy]

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