[all] Clean uncovered lifecycle codes

[hugtalbot]

• Disable RegisterObject as it should have been
• Remove data J, m_constraintMatrix to be used instead
• Postpone removal (in TriangleSetGeometryAlgorithms) to give @epernod time to work on it
• Fix error on lifecycle disabling version in Prism

Possibly to merge before #5888 and #5892

[with-all-tests]

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[fredroy]

• Disable RegisterObject as it should have been

Are you sure you want to disable this ? 🫢
I mean, the SofaCUDA one has been just converted so... 🫠

I would have at least postpone for 6 months (a release) more

[hugtalbot]

We can 👍
It's the second item where we would need to postpone the disabling date. I think we should pay more attention to these dates when the initial PR is open (note to myself)

[hugtalbot]

done @fredroy