[Framework] Apply template method design pattern to BaseConstraintSet

[bakpaul]

Apply pattern to :

• resetConstraint
• buildConstraintMatrix
• processGeometricalData
• getConstraintViolation
• getConstraintViolation

[ci-depends-on https://github.com/SofaDefrost/SoftRobots/pull/327]

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I have read, understand, and agree SOFA Developer Certificate of Origin (DCO).

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Reviewers will merge this pull-request only if

• 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).

[bakpaul]

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

[sofabot]

[ci-depends-on] detected during build #2.

To unlock the merge button, you must

• Merge or close Apply changes from SOFA PR 5478 SofaDefrost/SoftRobots#327
  For this build, the following CMake flags will be set
  -DSOFTROBOTS_GIT_REPOSITORY='https://github.com/SofaDefrost/SoftRobots'
  -DSOFTROBOTS_GIT_TAG='ada4320fea0ed5b8e1710e28fd05e27f016fab07'

[hugtalbot]

[ci-build]