/// \param[in] gamma The drift of the constraints (dim nb_constraints).
/// \param[in] updateKinematics If true, the algorithm calls first se3::computeAllTerms. Otherwise, it uses the current dynamic values stored in data.
///
/// \return A reference to the joint acceleration stored in data.ddq. The Lagrange Multipliers linked to the contact forces are available throw data.lambda vector.
/// \return A reference to the joint acceleration stored in data.ddq. The Lagrange Multipliers linked to the contact forces are available throw data.lambda_c vector.