WIP: Contact-Homotopy

[thartland]

The purpose of this PR is to add the ability to solve (tied) contact problems with the homotopy solver.

Tribol calls are wrapped in a constraint object which will define a NLMCProblem which is the object that the homotopy solver acts on.

Another addition of this PR is the complete avoidance of delete and replacing usage of raw pointers with std::unique_ptr in inertia relief and tied contact problem EqualityConstrainedHomotopyProblem's

Removing finite difference check task as such a check will only pass if we compile with enzyme and enable exact derivatives.

• create a contact NLMCProblem and pass it to the HomotopySolver.
• Have complementarity problems return Operator* instead of HypreParMatrix* to support a wider range of applications wherein the Operators are not assembled. Caveat: more work is needed for the HomotopySolver to fully support other operator types
• More verbose function defs for serac wrapper of problems so things are more easily understood by others.
• Utilize exceptions from Tribol compuations to signal bad contact computations to the solver and to reduce solver step length parameters. (Currently via a branch of Tribol)
• (in progress) Cache function calls in order to avoid unnecessarily duplicate computations as is currently done when ContactConstraint calls Tribol.
• An efficient way to use BoundaryConditionManager for a smith like way to communicate bcs to contact problem formulation for the HomotopySolver.

[codecov-commenter]

Codecov Report

❌ Patch coverage is 1.35135% with 73 lines in your changes missing coverage. Please review.
✅ Project coverage is 91.82%. Comparing base (db9409c) to head (604d8f7).
⚠️ Report is 15 commits behind head on develop.

Files with missing lines	Patch %	Lines
src/serac/physics/contact_constraint.hpp	1.38%	71 Missing ⚠️
src/serac/physics/constraint.hpp	0.00%	2 Missing ⚠️

Additional details and impacted files

@@             Coverage Diff             @@
##           develop    #1463      +/-   ##
===========================================
- Coverage    92.03%   91.82%   -0.21%     
===========================================
  Files          199      200       +1     
  Lines        25212    25277      +65     
===========================================
+ Hits         23203    23210       +7     
- Misses        2009     2067      +58     

Flag	Coverage Δ
unittests	91.82% <1.35%> (-0.21%)	⬇️

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