[Constraint.Lagrangian] Add augmented lagrangians #5003
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bakpaul
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…eed to fix it then add virutalization in Contact response
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This PR adds a first implementation of the augmented lagrangian collision (see A Surface-to-Surface Finite Element Algorithm for Large Deformation Frictional Contact).
To do so, because it is very close to the classical Unilateral constraint, I've tried to factorize code by adding a virtualization layer for both the constraints and the associated contact responses (see added class BaseContactLagrangianConstraint and BaseUnilateralContactResponse). It rely on a contact param template which is the only thing that differs in term of data and of course the type of ConstraintResolution used.
An example scene is introduced in the Demo folder, simply copying the falling beam example and replacing the response by the augmented lagrangian one.
There are still one todo for the future, even if this PR is already working on its own : adding the per-contact-point penalty modulation. This should be done by going back to the collision element using the DetectionOutput.elem attribute. This allows to go back to the topology. The only unknown is how to compute the element volume when the colliding topology is mapped to the simulated one.
[ci-depends-on https://github.com/SofaDefrost/ModelOrderReduction/pull/142]
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