[BUG] Is the workflow wrong for XPBD

[lisiyao21]

Bug Description

Dear contributors, thank you so much for this valuable framework!

Usually, we do wp.collide() before integrator.simulate(). But, when it involves XPBD, it will first integrate the body first and then do constraint solution, where the collision points are those detected before integration in XPBD. Isn't it wrong? Shouldn't the flow be: integrate --> collision --> optimization?

System Information

No response