Integrate TPSA into the multiphysics models

[keileg]

This issue coordinates the tasks needed to integrate the newly developed TPSA discretization into the models.

Tasks

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1. Extract constitutive laws for the mechanics rotation formulation
2. Define an extended constitutive law that introduce Cosserat materials
3. Mixin for rotation and total pressure variables
4. Boundary conditions for rotation variables (only to be used in the Cosserat setting)
5. Conservation equations for angular momentum and solid mass
6. Modification of constitutive laws for poro- and thermoporomechanics
7. Define variable names ( rotation, total_pressure) and physics keywords (rotation). This will require __init__ functions, or some rewrite of the existing models.
8. Define a single mixin that can be used to augment an existing (thermo/poro)-mechanics models with a three-field mechanics formulation.
9. Define an additional (single) mixin that adds the Cosserat material parameters to a model that already uses a three-field mechanics formulation.
10. Devise a strategy for testing.
11. Add to test_constitutive_laws.test_parse_constitutive_laws? This is an easy test, but will only verify lack of errors
12. Add to test_constitutive_laws.test_evaluated_values. May require new model classes in applications.test_utils.models

[keileg]

This is put on hold pending clarifications on details in the model formulation.