Fix the Coulomb's criterion in linear, Hertz, and Hertz-Mindlin with limit force in DEM

[acdaigneault]

Description

The Coulomb's criterion was wrong in the particle-particle contact force for Hertz-Mindlin with limit force, Hertz and Linear. The normal force norm was explicitly positive when doing normal_force.norm(), making the Coulomb's criterion always positive even if the particles are in repulsion, so in slidling.

Solution

Apply the the same way the Hertz-Mindlin with limit overlap is calculated.

Testing

Tests with low restitution coefficient may give negative coulomb criterion, this is why some tests have changed.

Documentation

Miscellaneous (will be removed when merged)

Checklist (will be removed when merged)

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Code related list:

• [x] All in-code documentation related to this PR is up to date (Doxygen format)
• [x] Lethe documentation is up to date
• [x] Fix has unit test(s) (preferred) or application test(s), and restart files are in the generator folder
• [x] The branch is rebased onto master
• [x] Changelog (CHANGELOG.md) is up to date
• [x] Code is indented with indent-all and .prm files (examples and tests) with prm-indent

Pull request related list:

• [x] Labels are applied
• [x] There are at least 2 reviewers (or 1 if small feature) excluding the responsible for the merge
• [x] If this PR closes an issue or is related to a project, it is linked in the "Projects" or "Development" section
• [x] If the fix is temporary, an issue is opened
• [x] The PR description is cleaned and ready for merge

[blaisb]

@acdaigneault can you add a CHANGELOG entry then I would merge