[SofaCUDA] ElementForceField(s): add support for Prisms and Pyramids

[fredroy]

Based on :

• [SofaCUDA] FEMMass: add CUDA instanciations #6170

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• it builds with SUCCESS for all platforms on the CI.
• it does not generate new warnings.
• it does not generate new unit test failures.
• it does not generate new scene test failures.
• it does not break API compatibility.
• it is more than 1 week old (or has fast-merge label).