feat: Augmented Lagrangian (slip and open modes)

[matteofrigo5]

This PR introduces the following features:

• Augmented Lagrangian Method for Contact Mechanics: This implementation finalizes the preliminary work from PR #3130, fully developing the method for both slip and open modes.
• Adaptive Penalty Coefficient Strategy: A simple adaptive strategy for setting the penalty coefficient has been implemented.

[codecov[bot]]

Codecov Report

Attention: Patch coverage is 0% with 602 lines in your changes missing coverage. Please review.

Project coverage is 56.31%. Comparing base (3b5b5a6) to head (bb696c1). Report is 1 commits behind head on develop.

Files with missing lines	Patch %	Lines
...ntact/SolidMechanicsAugmentedLagrangianContact.cpp	0.00%	257 Missing :warning:
...omponents/constitutive/contact/CoulombFriction.hpp	0.00%	103 Missing :warning:
...s/contact/SolidMechanicsALMSimultaneousKernels.hpp	0.00%	103 Missing :warning:
...niteElement/elementFormulations/LagrangeBasis1.hpp	0.00%	55 Missing :warning:
...csSolvers/contact/SolidMechanicsALMKernelsBase.hpp	0.00%	31 Missing :warning:
...ntact/SolidMechanicsAugmentedLagrangianContact.hpp	0.00%	17 Missing :warning:
...hysicsSolvers/contact/SolidMechanicsALMKernels.hpp	0.00%	12 Missing :warning:
...Solvers/contact/SolidMechanicsALMBubbleKernels.hpp	0.00%	9 Missing :warning:
...reComponents/constitutive/contact/FrictionBase.hpp	0.00%	6 Missing :warning:
...reComponents/constitutive/ConstitutivePassThru.hpp	0.00%	2 Missing :warning:
... and 5 more

Additional details and impacted files

```diff @@ Coverage Diff @@ ## develop #3217 +/- ## =========================================== - Coverage 56.59% 56.31% -0.29% =========================================== Files 1064 1065 +1 Lines 89766 90227 +461 =========================================== Hits 50807 50807 - Misses 38959 39420 +461 ```

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[rrsettgast]

@matteofrigo5 documentation errors:

/home/docs/checkouts/readthedocs.org/user_builds/geosx-geosx/checkouts/3217/src/docs/sphinx/advancedExamples/validationStudies/faultMechanics/intersectFrac/Example.rst:72: WARNING: start-after pattern not found: <!-- SPHINX_MESH -->
/home/docs/checkouts/readthedocs.org/user_builds/geosx-geosx/checkouts/3217/src/docs/sphinx/advancedExamples/validationStudies/faultMechanics/intersectFrac/Example.rst:81: WARNING: Include file '/home/docs/checkouts/readthedocs.org/user_builds/geosx-geosx/checkouts/3217/inputFiles/lagrangianContactMechanics/ContactMechanics_TFrac_base.xml' not found or reading it failed
/home/docs/checkouts/readthedocs.org/user_builds/geosx-geosx/checkouts/3217/src/docs/sphinx/advancedExamples/validationStudies/faultMechanics/intersectFrac/Example.rst:112: WARNING: end-before pattern not found: <!-- SPHINX_SOLVER_END -->
/home/docs/checkouts/readthedocs.org/user_builds/geosx-geosx/checkouts/3217/src/docs/sphinx/advancedExamples/validationStudies/faultMechanics/intersectFrac/Example.rst:127: WARNING: Include file '/home/docs/checkouts/readthedocs.org/user_builds/geosx-geosx/checkouts/3217/inputFiles/lagrangianContactMechanics/ContactMechanics_TFrac_base.xml' not found or reading it failed
/home/docs/checkouts/readthedocs.org/user_builds/geosx-geosx/checkouts/3217/src/docs/sphinx/advancedExamples/validationStudies/faultMechanics/intersectFrac/Example.rst:148: WARNING: Include file '/home/docs/checkouts/readthedocs.org/user_builds/geosx-geosx/checkouts/3217/inputFiles/lagrangianContactMechanics/ContactMechanics_TFrac_base.xml' not found or reading it failed
/home/docs/checkouts/readthedocs.org/user_builds/geosx-geosx/checkouts/3217/src/docs/sphinx/advancedExamples/validationStudies/faultMechanics/intersectFrac/Example.rst:174: WARNING: Include file '/home/docs/checkouts/readthedocs.org/user_builds/geosx-geosx/checkouts/3217/inputFiles/lagrangianContactMechanics/ContactMechanics_TFrac_base.xml' not found or reading it failed
/home/docs/checkouts/readthedocs.org/user_builds/geosx-geosx/checkouts/3217/src/docs/sphinx/advancedExamples/validationStudies/faultMechanics/intersectFrac/Example.rst:233: WARNING: Exception occurred in plotting intersectFracFigure
 from /home/docs/checkouts/readthedocs.org/user_builds/geosx-geosx/checkouts/3217/src/docs/sphinx/advancedExamples/validationStudies/faultMechanics/intersectFrac/intersectFracFigure.py:
Traceback (most recent call last):
  File "/home/docs/checkouts/readthedocs.org/user_builds/geosx-geosx/envs/3217/lib/python3.10/site-packages/matplotlib/sphinxext/plot_directive.py", line 552, in _run_code
    exec(code, ns)
  File "<string>", line 219, in <module>
  File "<string>", line 155, in main
  File "<string>", line 30, in getMechanicalParametersFromXML
  File "/home/docs/.asdf/installs/python/3.10.14/lib/python3.10/xml/etree/ElementTree.py", line 1222, in parse
    tree.parse(source, parser)
  File "/home/docs/.asdf/installs/python/3.10.14/lib/python3.10/xml/etree/ElementTree.py", line 569, in parse
    source = open(source, "rb")
FileNotFoundError: [Errno 2] No such file or directory: '../../../../../../../inputFiles/lagrangianContactMechanics/ContactMechanics_TFrac_base.xml'
/home/docs/checkouts/readthedocs.org/user_builds/geosx-geosx/checkouts/3217/src/docs/sphinx/advancedExamples/validationStudies/faultMechanics/singleFracCompression/Example.rst:82: WARNING: start-after pattern not found: <!-- SPHINX_MESH -->
/home/docs/checkouts/readthedocs.org/user_builds/geosx-geosx/checkouts/3217/src/docs/sphinx/advancedExamples/validationStudies/faultMechanics/singleFracCompression/Example.rst:113: WARNING: Include file '/home/docs/checkouts/readthedocs.org/user_builds/geosx-geosx/checkouts/3217/inputFiles/lagrangianContactMechanics/ContactMechanics_SingleFracCompression_base.xml' not found or reading it failed
/home/docs/checkouts/readthedocs.org/user_builds/geosx-geosx/checkouts/3217/src/docs/sphinx/advancedExamples/validationStudies/faultMechanics/singleFracCompression/Example.rst:127: WARNING: Include file '/home/docs/checkouts/readthedocs.org/user_builds/geosx-geosx/checkouts/3217/inputFiles/lagrangianContactMechanics/ContactMechanics_SingleFracCompression_base.xml' not found or reading it failed
/home/docs/checkouts/readthedocs.org/user_builds/geosx-geosx/checkouts/3217/src/docs/sphinx/advancedExamples/validationStudies/faultMechanics/singleFracCompression/Example.rst:148: WARNING: Include file '/home/docs/checkouts/readthedocs.org/user_builds/geosx-geosx/checkouts/3217/inputFiles/lagrangianContactMechanics/ContactMechanics_SingleFracCompression_base.xml' not found or reading it failed
/home/docs/checkouts/readthedocs.org/user_builds/geosx-geosx/checkouts/3217/src/docs/sphinx/advancedExamples/validationStudies/faultMechanics/singleFracCompression/Example.rst:173: WARNING: Include file '/home/docs/checkouts/readthedocs.org/user_builds/geosx-geosx/checkouts/3217/inputFiles/lagrangianContactMechanics/ContactMechanics_SingleFracCompression_base.xml' not found or reading it failed
/home/docs/checkouts/readthedocs.org/user_builds/geosx-geosx/checkouts/3217/src/docs/sphinx/advancedExamples/validationStudies/faultMechanics/singleFracCompression/Example.rst:232: WARNING: Exception occurred in plotting singleFracCompressionFigure
 from /home/docs/checkouts/readthedocs.org/user_builds/geosx-geosx/checkouts/3217/src/docs/sphinx/advancedExamples/validationStudies/faultMechanics/singleFracCompression/singleFracCompressionFigure.py:
Traceback (most recent call last):
  File "/home/docs/checkouts/readthedocs.org/user_builds/geosx-geosx/envs/3217/lib/python3.10/site-packages/matplotlib/sphinxext/plot_directive.py", line 552, in _run_code
    exec(code, ns)
  File "<string>", line 187, in <module>
  File "<string>", line 138, in main
  File "<string>", line 38, in getMechanicalParametersFromXML
  File "/home/docs/.asdf/installs/python/3.10.14/lib/python3.10/xml/etree/ElementTree.py", line 1222, in parse
    tree.parse(source, parser)
  File "/home/docs/.asdf/installs/python/3.10.14/lib/python3.10/xml/etree/ElementTree.py", line 569, in parse
    source = open(source, "rb")
FileNotFoundError: [Errno 2] No such file or directory: '../../../../../../../inputFiles/lagrangianContactMechanics/ContactMechanics_SingleFracCompression_base.xml'
/home/docs/checkouts/readthedocs.org/user_builds/geosx-geosx/checkouts/3217/src/docs/sphinx/advancedExamples/validationStudies/faultMechanics/sneddon/Example.rst:102: WARNING: Include file '/home/docs/checkouts/readthedocs.org/user_builds/geosx-geosx/checkouts/3217/inputFiles/lagrangianContactMechanics/Sneddon_contactMechanics_benchmark.xml' not found or reading it failed
/home/docs/checkouts/readthedocs.org/user_builds/geosx-geosx/checkouts/3217/src/docs/sphinx/advancedExamples/validationStudies/faultMechanics/sneddon/Example.rst:158: WARNING: Include file '/home/docs/checkouts/readthedocs.org/user_builds/geosx-geosx/checkouts/3217/inputFiles/lagrangianContactMechanics/Sneddon_contactMechanics_benchmark.xml' not found or reading it failed
/home/docs/checkouts/readthedocs.org/user_builds/geosx-geosx/checkouts/3217/src/docs/sphinx/advancedExamples/validationStudies/faultMechanics/sneddon/Example.rst:212: WARNING: Include file '/home/docs/checkouts/readthedocs.org/user_builds/geosx-geosx/checkouts/3217/inputFiles/lagrangianContactMechanics/Sneddon_contactMechanics_base.xml' not found or reading it failed
/home/docs/checkouts/readthedocs.org/user_builds/geosx-geosx/checkouts/3217/src/docs/sphinx/advancedExamples/validationStudies/faultMechanics/sneddon/Example.rst:245: WARNING: Include file '/home/docs/checkouts/readthedocs.org/user_builds/geosx-geosx/checkouts/3217/inputFiles/lagrangianContactMechanics/Sneddon_contactMechanics_base.xml' not found or reading it failed```