/// where \f$ \ddot{q}_{\text{free}} \f$ is the free acceleration (i.e. without constraints),
/// \f$ M \f$ is the mass matrix, \f$ J \f$ the constraint Jacobian and \f$ \gamma \f$ is the constraint drift.
///
/// \param[in] model The model structure of the rigid body system.
/// \param[in] data The data structure of the rigid body system.
/// \param[in] q The joint configuration (vector dim model.nq).
/// \param[in] v The joint velocity (vector dim model.nv).
/// \param[in] tau The joint torque vector (dim model.nv).
/// \param[in] J The Jacobian of the constraints (dim nb_constraints*model.nv).
/// \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.