Integrate TPSA into the multiphysics models

[keileg]

This issue coordinates the tasks needed to integrate the newly developed TPSA discretization into the models.

### Tasks
- [x] Extract constitutive laws for the mechanics rotation formulation
- [x] Define an extended constitutive law that introduce Cosserat materials
- [x] Mixin for rotation and total pressure variables
- [x] Boundary conditions for rotation variables (only to be used in the Cosserat setting)
- [x] Conservation equations for angular momentum and solid mass
- [x] Modification of constitutive laws for poro- and thermoporomechanics
- [x] Define variable names ( `rotation,` `total_pressure`) and physics keywords (`rotation`). This will require `__init__` functions, or some rewrite of the existing models.
- [ ] Define a single mixin that can be used to augment an existing (thermo/poro)-mechanics models with a three-field mechanics formulation.
- [x] Define an additional (single) mixin that adds the Cosserat material parameters to a model that already uses a three-field mechanics formulation.
- [x] Devise a strategy for testing.
- [ ] Add to test_constitutive_laws.test_parse_constitutive_laws? This is an easy test, but will only verify lack of errors
- [ ] Add to test_constitutive_laws.test_evaluated_values. May require new model classes in applications.test_utils.models

[keileg]

This is put on hold pending clarifications on details in the model formulation.