[core] Speed-up simulation by avoid unecessary computations

[duburcqa]

• Add option to disable extra computations
• Add option to update less frequently the formulation of the constrained problem (the pose of the contact points, the set of active constraints, and the Jacobian of the constraints) because it is costly to evaluate and should be slowly varying.

[duburcqa]

Add option to disable extra computations

The speed up was very marginal (less than 2%), so I think it is not worth adding an extra option for this. Closing.