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
Merge remote-tracking branch 'xyan075/linearisation' into single_region_contact