Adding EQUATIONS_SET_RESIDUAL_CONTACT_UPDATE_STATIC_FEM skeleton code with dof mapping

Tracker Item 3675
Adding EQUATIONS_SET_JACOBIAN_CONTACT_UPDATE_STATIC_FEM skeleton code with dof mapping

Tracker Item 3675
Merge remote-tracking branch 'PrasadBabarendaGamage/single_region_contact' into linearisation

This would allow populating contact stiffness matrix and contact residual directly
Merge remote-tracking branch 'PrasadBabarendaGamage/single_region_contact' into linearisation
Frictionles contact linearisation Jacobian and residual implementation

Tracker item: 3675