feat: Friction Driver

[jafranc]

Create a FrictionDriver to map states. tau lim wrt displacement jumps and tractions.
As relperm driver under specification of jumps and traction output predicted state and tau limit

<?xml version="1.0" ?>

<Problem>
  <!-- SPHINX_TASK -->
  <Tasks>
    <FrictionDriver
      name="frictionDriver"
      friction="fractureContact"
      jumpControl="jFunction"
      xTiltAngle="80"
      tractionControl="tFunction"
      steps="10" 
      output="FrictionDriver.txt" />
  </Tasks>
  <!-- SPHINX_TASK_END -->

  <Included>
    <File name="./frictionDriver_base.xml"/>
  </Included>
</Problem>

with base description:

<?xml version="1.0" ?>

<Problem>
  <Events
    maxTime="1">
    <SoloEvent
      name="frictionDriver"
      target="/Tasks/frictionDriver"/>
  </Events>

  <Constitutive>  
    <Coulomb
      name="fractureContact"
      cohesion="0.0e6"
      frictionCoefficient="0.01"/>
  </Constitutiv>

  <Functions>
    <TableFunction
      name="jFunction"
      inputVarNames="{ time }"
      coordinateFiles="{ tables/time.geos }"
      voxelFile="tables/jumps.geos"/>

    <TableFunction
      name="tFunction"
      inputVarNames="{ time }"
      coordinateFiles="{ tables/time.geos }"
      voxelFile="tables/tractions.geos"/>
  </Functions>

  <Mesh>
    <InternalMesh
      name="mesh1"
      elementTypes="{ C3D8 }"
      xCoords="{ 0, 1 }"
      yCoords="{ 0, 1 }"
      zCoords="{ 0, 1 }"
      nx="{ 1 }"
      ny="{ 1 }"
      nz="{ 1 }"
      cellBlockNames="{ cellBlock01 }"/>
  </Mesh>

  <ElementRegions>
    <CellElementRegion
      name="dummy"
      cellBlocks="{ * }"
      materialList="{ dummy }"/>
  </ElementRegions>
</Problem>

Providing the output:

# column 1 = index 
# column 2-3 = normal and in-plane displacement jump
# columns 5-7 = normal and in-place tractions
# columns 8 = fracture state (0:Stick,1-2:[new]Slip,3:Open)
# columns 9 = tau lim
0.0000e+00 0.0000e+00 0.0000e+00 0.0000e+00 0.0000e+00 0.0000e+00 0.0000e+00 0.0000e+00 0.0000e+00 
5.0000e-01 4.9240e-04 8.6824e-05 8.6824e-05 0.0000e+00 0.0000e+00 0.0000e+00 3.0000e+00 0.0000e+00 
1.0000e+00 9.8481e-04 1.7365e-04 1.7365e-04 0.0000e+00 0.0000e+00 0.0000e+00 3.0000e+00 0.0000e+00 
1.5000e+00 1.4772e-03 2.6047e-04 2.6047e-04 0.0000e+00 0.0000e+00 0.0000e+00 3.0000e+00 0.0000e+00 
2.0000e+00 1.9696e-03 3.4730e-04 3.4730e-04 0.0000e+00 0.0000e+00 0.0000e+00 3.0000e+00 0.0000e+00 
2.5000e+00 2.4620e-03 4.3412e-04 4.3412e-04 0.0000e+00 0.0000e+00 0.0000e+00 3.0000e+00 0.0000e+00 
3.0000e+00 2.9544e-03 5.2094e-04 5.2094e-04 0.0000e+00 0.0000e+00 0.0000e+00 3.0000e+00 0.0000e+00