refactor: adapt constraint to halfedges

This commit refactors the constraint algorithm to utilize the
`halfedges` approach.
This change has significantly improved performance.
The algorithm no longer relies on triangulation mappings, such as
edge-to-triangle and triangle-to-edge relationships (or circles).
Additionally, the `satisfied` buffer has been removed.
The complexity of the intersection searching algorithm has been reduced
from a naive $\mathcal O(n^2)$ solution to $\mathcal O(n \log n)$.