solver: Coulomb friction for implicit mortar contact

A return map at the closed secondary nodes on the mortar slip in its rate form (w_A = B_A dx,
B_A = [int Phi_A N_i P, -int Phi_A N_j P]): stick within mu p_A, slip back to the cone, static
coefficient for a node that stuck in the last increment and kinetic for one that slipped; the
friction does the virtual work t . B_A dx, so a slipping interface carries mu N exactly. The
tangent is symmetrised (stick and slip stiffness kept, the coupling to the pressure and the
change of B left out; the residual is exact). Tractions and slip states are committed with the
converged increment. After a chattering cutback, nodes open by less than 1e-3 of their
element's thickness keep their penalty in the tangent for the rest of the step. Results carry
the shear traction, the slip and stick/slip status.

Co-Authored-By: Claude Opus 5.5 <[email protected]>
Claude-Session: https://claude.ai/code/session_01UhhZMBTviDQxZvwnyP89fo

crates/model/src/contact.rs

@@ -13,6 +13,8 @@
 //! **Friction** is Coulomb's law with a coefficient that falls from its static to its kinetic
 //! value with the slip rate γ̇: μ = μ_k + (μ_s − μ_k) e^{−d γ̇} (the exponential decay of
 //! E. Rabinowicz's observations, as LS-DYNA's and Abaqus's exponential decay friction write it).
+//! A static step has no slip rate: its nodes take the static coefficient while they stick and the
+//! kinetic one once they slip.
 //! The same friction applies to the planar rigid walls of an explicit step
 //! ([`crate::RigidWall`]).
 //!