Separate stick, slip, open parts of contact residual and try to normalize them properly

[paveltomin]

Separately compute contact residuals for elements in stick, slip, and open states and normalize:

• Stick: normalize locally rhs by element area and compute L2-norm of that
• Slip and Open: compute L2-norm of rhs and normalize by Linf norm or rhs (similar to for as continuous mechanics)   Bonus: lineSearchResidualFactor - factor used to check residual increase for triggering line search (currently any residual increase will trigger line search which is too conservative)