PenaltyFrictionUserObject

Description

The PenaltyFrictionUserObject object computes tangential pressures due to Coulomb friction by looping over mortar segments. The accumulated tangential slip is penalized by a penalty_friction factor. As the slip accumulates, the frictional pressure(s) saturates at the Coulomb limit. Note that a high enough value of the penalty_friction value is required to obtain realistic frictional pressure; otherwise, the tangential model will underpredict frictional forces. That is, higher values of the penalty_friction parameter will more accurately predict the stick and slip Coulomb behavior at the expense of worsening the convergence behavior. The slip_tolerance parameter can be chosen to limit the amount of relative slip at nodes that are not slipping (at the Coulomb limit).

The tangential traction (or tractions for a three-dimensional problem) generated by this object contains Jacobian information as a consequence of using automatic differentiation objects. These tractions are directly applied on the contacting surfaces by TangentialMortarMechanicalContact. That is, the tangential contact pressure values computed by this object serve a purpose analogous to the Lagrange multipliers when exact enforcement is used (see ComputeFrictionalForceLMMechanicalContact). This object is set up automatically when using the contact action.

This object is built from within the contact action when the formulation MORTAR_PENALTY and the model COULOMB is selected. The action sets the use_physical_gap parameter to true, which allows the user to select a normal contact penalty parameter on the order of the stiffness of the materials coming into contact. Also, to ensure solution stability, dual bases (i.e. use_dual = true) are employed by default to interpolate the contact traction when using the contact action.

An augmented Lagrange (AL) approach can be used to enforce the contact constraints to a user-prescribed tolerance. That tolerance can be the normal gap distance (distance to exact enforcement if in contact) or the relative slip tolerance for slipping nodes. The AL approach solves the original MOOSE problem, in which contact is enforced using a pure penalty approach, taking the necessary nonlinear iterations and updates "fixed" Lagrange multipliers in an outer loop. This process repeats until the contact-related tolerances are met. The "fixed" Lagrange multipliers represent accumulated normal and tangential tractions over the AL iterations (see (Wriggers, 2006)). Usage of AL with this mortar constraint allows for, simultaneously 1. Having a contact formulation that, upon AL convergence, will yield results equivalent to Lagrange multiplier-enforced dual mortar, 2. Enforcement of the contact constraint to a user-prescribed tolerance (analogous to Lagrange multiplier enforcement, see ComputeWeightedGapLMMechanicalContact), and 3. Keeps the system's condition number as if mechanical contact is not present; as long as the initial penalty coefficients are selected on the order of the material stiffnesses.

tip:Augmented Lagrange with mortar contact

For the reasons stated above, it is recommended to use an AL approach with the mortar penalty objects.

Example of usage in the contact action:

[Contact]
  [al_friction]
    formulation = mortar_penalty
    model = coulomb
    primary = '2'
    secondary = '3'
    penalty = 1e5
    penalty_friction = 1e8
    friction_coefficient = 0.4
    al_penetration_tolerance = 1e-7
    al_incremental_slip_tolerance = 1.0 # Not active
    penalty_multiplier = 100
    penalty_multiplier_friction = 1
  []
[]

which can be combined with an augmented Lagrange problem:

[Problem]
  type = AugmentedLagrangianContactFEProblem
  extra_tag_vectors = 'ref'
[]

See below an example of solver options with iterative preconditioners (e.g. algebraic multigrid) in a mortar mechanical contact problem. This solver selection can enable the simulation of very large contact mechanics problems with the more memory efficient iterative procedures:

[Executioner]
  type = Transient
  solve_type = 'NEWTON'

  petsc_options = '-ksp_snes_ew'
  petsc_options_iname = '-ksp_gmres_restart -pc_type -pc_hypre_type -pc_hypre_boomeramg_max_iter'
  petsc_options_value = ' 201                hypre    boomeramg      8'

  line_search = 'none'

  nl_abs_tol = 1e-10
  nl_rel_tol = 1e-8
  nl_max_its = 50
  l_tol = 1e-05
  l_abs_tol = 1e-13

  start_time = 0.0
  end_time = 0.2 # 1.0
  dt = 0.1
  dtmin = 0.1

  [Predictor]
    type = SimplePredictor
    scale = 1.0
  []

  automatic_scaling = true
  compute_scaling_once = false
  off_diagonals_in_auto_scaling = true
[]

Input Parameters

disp_xThe x displacement variable
C++ Type:std::vector<VariableName>
Unit:(no unit assumed)
Controllable:No
Description:The x displacement variable
disp_yThe y displacement variable
C++ Type:std::vector<VariableName>
Unit:(no unit assumed)
Controllable:No
Description:The y displacement variable
friction_coefficientThe friction coefficient ruling Coulomb friction equations.
C++ Type:double
Unit:(no unit assumed)
Controllable:No
Description:The friction coefficient ruling Coulomb friction equations.
penaltyThe penalty factor
C++ Type:double
Unit:(no unit assumed)
Controllable:No
Description:The penalty factor
primary_boundaryThe name of the primary boundary sideset.
C++ Type:BoundaryName
Unit:(no unit assumed)
Controllable:No
Description:The name of the primary boundary sideset.
primary_subdomainThe name of the primary subdomain.
C++ Type:SubdomainName
Unit:(no unit assumed)
Controllable:No
Description:The name of the primary subdomain.
secondary_boundaryThe name of the secondary boundary sideset.
C++ Type:BoundaryName
Unit:(no unit assumed)
Controllable:No
Description:The name of the secondary boundary sideset.
secondary_subdomainThe name of the secondary subdomain.
C++ Type:SubdomainName
Unit:(no unit assumed)
Controllable:No
Description:The name of the secondary subdomain.
secondary_variablePrimal variable on secondary surface.
C++ Type:VariableName
Unit:(no unit assumed)
Controllable:No
Description:Primal variable on secondary surface.

Required Parameters

adaptivity_penalty_frictionFRICTION_LIMITThe augmented Lagrange update strategy used on the frictional penalty coefficient.
Default:FRICTION_LIMIT
C++ Type:MooseEnum
Unit:(no unit assumed)
Options:SIMPLE, FRICTION_LIMIT
Controllable:No
Description:The augmented Lagrange update strategy used on the frictional penalty coefficient.
adaptivity_penalty_normalSIMPLEThe augmented Lagrange update strategy used on the normal penalty coefficient.
Default:SIMPLE
C++ Type:MooseEnum
Unit:(no unit assumed)
Options:SIMPLE, BUSSETTA
Controllable:No
Description:The augmented Lagrange update strategy used on the normal penalty coefficient.
aux_lmAuxiliary variable that is utilized together with the penalty approach to interpolate the resulting contact tractions using dual bases.
C++ Type:std::vector<VariableName>
Unit:(no unit assumed)
Controllable:No
Description:Auxiliary variable that is utilized together with the penalty approach to interpolate the resulting contact tractions using dual bases.
correct_edge_droppingFalseWhether to enable correct edge dropping treatment for mortar constraints. When disabled any Lagrange Multiplier degree of freedom on a secondary element without full primary contributions will be set (strongly) to 0.
Default:False
C++ Type:bool
Unit:(no unit assumed)
Controllable:No
Description:Whether to enable correct edge dropping treatment for mortar constraints. When disabled any Lagrange Multiplier degree of freedom on a secondary element without full primary contributions will be set (strongly) to 0.
debug_meshFalseWhether this constraint is going to enable mortar segment mesh debug information. An exodusfile will be generated if the user sets this flag to true
Default:False
C++ Type:bool
Unit:(no unit assumed)
Controllable:No
Description:Whether this constraint is going to enable mortar segment mesh debug information. An exodusfile will be generated if the user sets this flag to true
disp_zThe z displacement variable
C++ Type:std::vector<VariableName>
Unit:(no unit assumed)
Controllable:No
Description:The z displacement variable
ghost_higher_d_neighborsFalseWhether we should ghost higher-dimensional neighbors. This is necessary when we are doing second order mortar with finite volume primal variables, because in order for the method to be second order we must use cell gradients, which couples in the neighbor cells.
Default:False
C++ Type:bool
Unit:(no unit assumed)
Controllable:No
Description:Whether we should ghost higher-dimensional neighbors. This is necessary when we are doing second order mortar with finite volume primal variables, because in order for the method to be second order we must use cell gradients, which couples in the neighbor cells.
ghost_point_neighborsFalseWhether we should ghost point neighbors of secondary face elements, and consequently also their mortar interface couples.
Default:False
C++ Type:bool
Unit:(no unit assumed)
Controllable:No
Description:Whether we should ghost point neighbors of secondary face elements, and consequently also their mortar interface couples.
interpolate_normalsFalseWhether to interpolate the nodal normals (e.g. classic idea of evaluating field at quadrature points). If this is set to false, then non-interpolated nodal normals will be used, and then the _normals member should be indexed with _i instead of _qp
Default:False
C++ Type:bool
Unit:(no unit assumed)
Controllable:No
Description:Whether to interpolate the nodal normals (e.g. classic idea of evaluating field at quadrature points). If this is set to false, then non-interpolated nodal normals will be used, and then the _normals member should be indexed with _i instead of _qp
minimum_projection_angle40Parameter to control which angle (in degrees) is admissible for the creation of mortar segments. If set to a value close to zero, very oblique projections are allowed, which can result in mortar segments solving physics not meaningfully, and overprojection of primary nodes onto the mortar segment mesh in extreme cases. This parameter is mostly intended for mortar mesh debugging purposes in two dimensions.
Default:40
C++ Type:double
Unit:(no unit assumed)
Controllable:No
Description:Parameter to control which angle (in degrees) is admissible for the creation of mortar segments. If set to a value close to zero, very oblique projections are allowed, which can result in mortar segments solving physics not meaningfully, and overprojection of primary nodes onto the mortar segment mesh in extreme cases. This parameter is mostly intended for mortar mesh debugging purposes in two dimensions.
penalty_frictionThe penalty factor for frictional interaction. If not provide, the normal penalty factor is also used for the frictional problem.
C++ Type:double
Unit:(no unit assumed)
Controllable:No
Description:The penalty factor for frictional interaction. If not provide, the normal penalty factor is also used for the frictional problem.
penalty_multiplier_friction1The penalty growth factor between augmented Lagrange iterations for penalizing relative slip distance if the node is under stick conditions.
Default:1
C++ Type:double
Unit:(no unit assumed)
Controllable:No
Description:The penalty growth factor between augmented Lagrange iterations for penalizing relative slip distance if the node is under stick conditions.
periodicFalseWhether this constraint is going to be used to enforce a periodic condition. This has the effect of changing the normals vector for projection from outward to inward facing
Default:False
C++ Type:bool
Unit:(no unit assumed)
Controllable:No
Description:Whether this constraint is going to be used to enforce a periodic condition. This has the effect of changing the normals vector for projection from outward to inward facing
primary_variablePrimal variable on primary surface. If this parameter is not provided then the primary variable will be initialized to the secondary variable
C++ Type:VariableName
Unit:(no unit assumed)
Controllable:No
Description:Primal variable on primary surface. If this parameter is not provided then the primary variable will be initialized to the secondary variable
prop_getter_suffixAn optional suffix parameter that can be appended to any attempt to retrieve/get material properties. The suffix will be prepended with a '_' character.
C++ Type:MaterialPropertyName
Unit:(no unit assumed)
Controllable:No
Description:An optional suffix parameter that can be appended to any attempt to retrieve/get material properties. The suffix will be prepended with a '_' character.
slip_toleranceAcceptable slip distance at which augmented Lagrange iterations can be stopped
C++ Type:double
Unit:(no unit assumed)
Controllable:No
Description:Acceptable slip distance at which augmented Lagrange iterations can be stopped
use_interpolated_stateFalseFor the old and older state use projected material properties interpolated at the quadrature points. To set up projection use the ProjectedStatefulMaterialStorageAction.
Default:False
C++ Type:bool
Unit:(no unit assumed)
Controllable:No
Description:For the old and older state use projected material properties interpolated at the quadrature points. To set up projection use the ProjectedStatefulMaterialStorageAction.
use_physical_gapFalseWhether to use the physical normal gap (not scaled by mortar integration) and normalize the penalty coefficient with a representative lower-dimensional volume assigned to the node in the contacting boundary. This parameter is defaulted to 'true' in the contact action.
Default:False
C++ Type:bool
Unit:(no unit assumed)
Controllable:No
Description:Whether to use the physical normal gap (not scaled by mortar integration) and normalize the penalty coefficient with a representative lower-dimensional volume assigned to the node in the contacting boundary. This parameter is defaulted to 'true' in the contact action.

Optional Parameters

allow_duplicate_execution_on_initialFalseIn the case where this UserObject is depended upon by an initial condition, allow it to be executed twice during the initial setup (once before the IC and again after mesh adaptivity (if applicable).
Default:False
C++ Type:bool
Unit:(no unit assumed)
Controllable:No
Description:In the case where this UserObject is depended upon by an initial condition, allow it to be executed twice during the initial setup (once before the IC and again after mesh adaptivity (if applicable).
control_tagsAdds user-defined labels for accessing object parameters via control logic.
C++ Type:std::vector<std::string>
Unit:(no unit assumed)
Controllable:No
Description:Adds user-defined labels for accessing object parameters via control logic.
enableTrueSet the enabled status of the MooseObject.
Default:True
C++ Type:bool
Unit:(no unit assumed)
Controllable:Yes
Description:Set the enabled status of the MooseObject.
execution_order_group0Execution order groups are executed in increasing order (e.g., the lowest number is executed first). Note that negative group numbers may be used to execute groups before the default (0) group. Please refer to the user object documentation for ordering of user object execution within a group.
Default:0
C++ Type:int
Unit:(no unit assumed)
Controllable:No
Description:Execution order groups are executed in increasing order (e.g., the lowest number is executed first). Note that negative group numbers may be used to execute groups before the default (0) group. Please refer to the user object documentation for ordering of user object execution within a group.
force_postauxFalseForces the UserObject to be executed in POSTAUX
Default:False
C++ Type:bool
Unit:(no unit assumed)
Controllable:No
Description:Forces the UserObject to be executed in POSTAUX
force_preauxFalseForces the UserObject to be executed in PREAUX
Default:False
C++ Type:bool
Unit:(no unit assumed)
Controllable:No
Description:Forces the UserObject to be executed in PREAUX
force_preicFalseForces the UserObject to be executed in PREIC during initial setup
Default:False
C++ Type:bool
Unit:(no unit assumed)
Controllable:No
Description:Forces the UserObject to be executed in PREIC during initial setup
use_displaced_meshTrueWhether or not this object should use the displaced mesh for computation. Note that in the case this is true but no displacements are provided in the Mesh block the undisplaced mesh will still be used.
Default:True
C++ Type:bool
Unit:(no unit assumed)
Controllable:No
Description:Whether or not this object should use the displaced mesh for computation. Note that in the case this is true but no displacements are provided in the Mesh block the undisplaced mesh will still be used.

Advanced Parameters

max_penalty_multiplier1000Maximum multiplier applied to penalty factors when adaptivity is used in an augmented Lagrange setting. The penalty factor supplied by the user is used as a reference.
Default:1000
C++ Type:double
Unit:(no unit assumed)
Controllable:No
Description:Maximum multiplier applied to penalty factors when adaptivity is used in an augmented Lagrange setting. The penalty factor supplied by the user is used as a reference.
penalty_multiplier1The penalty growth factor between augmented Lagrange iterations if weighted gap does not get closed fast enough. For frictional simulations, values smaller than 100 are recommended, e.g. 5.
Default:1
C++ Type:double
Unit:(no unit assumed)
Controllable:No
Description:The penalty growth factor between augmented Lagrange iterations if weighted gap does not get closed fast enough. For frictional simulations, values smaller than 100 are recommended, e.g. 5.
penetration_toleranceAcceptable penetration distance at which augmented Lagrange iterations can be stopped
C++ Type:double
Unit:(no unit assumed)
Controllable:No
Description:Acceptable penetration distance at which augmented Lagrange iterations can be stopped

Augmented Lagrange Parameters

Input Files

(modules/contact/test/tests/pdass_problems/cylinder_friction_penalty.i)
(modules/contact/test/tests/3d-mortar-contact/frictional-mortar-3d-al.i)
(modules/contact/test/tests/pdass_problems/ironing_penalty.i)
(modules/contact/test/tests/bouncing-block-contact/frictional-penalty-weighted-vel.i)
(modules/contact/test/tests/pdass_problems/ironing_penalty_al.i)
(modules/contact/test/tests/pdass_problems/cylinder_friction_penalty_frictional_al_tight_slip.i)
(modules/contact/test/tests/pdass_problems/cylinder_friction_penalty_adaptivity.i)
(modules/contact/test/tests/pdass_problems/cylinder_friction_penalty_frictional_al.i)
(modules/contact/test/tests/3d-mortar-contact/frictional-mortar-3d-penalty.i)

References

Peter Wriggers. Computational Contact Mechanics. Springer Berlin Heidelberg, Berlin, Heidelberg, 2006.

@book{wriggers2006computational,
    Author = "Wriggers, Peter",
    Address = "Berlin, Heidelberg",
    Publisher = "Springer Berlin Heidelberg",
    Title = "Computational {Contact} {Mechanics}",
    Year = "2006"
}

(modules/contact/test/tests/pdass_problems/cylinder_friction_penalty_frictional_al_action.i)

[GlobalParams]
  volumetric_locking_correction = true
  displacements = 'disp_x disp_y'
[]

[Mesh]
  [input_file]
    type = FileMeshGenerator
    file = hertz_cyl_finer.e
  []
  allow_renumbering = false
[]

[Problem]
  type = AugmentedLagrangianContactFEProblem
  extra_tag_vectors = 'ref'
[]

[AuxVariables]
  [penalty_normal_pressure]
  []
  [penalty_frictional_pressure]
  []
  [accumulated_slip_one]
  []
  [tangential_vel_one]
  []
  [normal_gap]
  []
  [normal_lm]
  []
  [saved_x]
  []
  [saved_y]
  []
  [active]
  []
[]

[Functions]
  [disp_ramp_vert]
    type = PiecewiseLinear
    x = '0. 1. 3.5'
    y = '0. -0.020 -0.020'
  []
  [disp_ramp_horz]
    type = PiecewiseLinear
    x = '0. 1. 3.5'
    y = '0. 0.0 0.015'
  []
[]

[Physics/SolidMechanics/QuasiStatic/all]
  strain = FINITE
  add_variables = true
  save_in = 'saved_x saved_y'
  extra_vector_tags = 'ref'
  block = '1 2 3 4 5 6 7'
  generate_output = 'stress_xx stress_yy stress_xy'
[]

[AuxKernels]
  [penalty_normal_pressure]
    type = PenaltyMortarUserObjectAux
    variable = penalty_normal_pressure
    user_object = penalty_friction_object_al_friction
    contact_quantity = normal_pressure
    boundary = 3
  []
  [penalty_frictional_pressure]
    type = PenaltyMortarUserObjectAux
    variable = penalty_frictional_pressure
    user_object = penalty_friction_object_al_friction
    contact_quantity = tangential_pressure_one
    boundary = 3
  []
  [penalty_tangential_vel_one]
    type = PenaltyMortarUserObjectAux
    variable = tangential_vel_one
    user_object = penalty_friction_object_al_friction
    contact_quantity = tangential_velocity_one
    boundary = 3
  []
  [penalty_accumulated_slip_one]
    type = PenaltyMortarUserObjectAux
    variable = accumulated_slip_one
    user_object = penalty_friction_object_al_friction
    contact_quantity = accumulated_slip_one
    boundary = 3
  []
  [normal_lm]
    type = PenaltyMortarUserObjectAux
    variable = normal_lm
    user_object = penalty_friction_object_al_friction
    contact_quantity = normal_lm
    boundary = 3
  []
  [normal_gap]
    type = PenaltyMortarUserObjectAux
    variable = normal_gap
    user_object = penalty_friction_object_al_friction
    contact_quantity = normal_gap
    boundary = 3
  []
[]

[Postprocessors]
  [bot_react_x]
    type = NodalSum
    variable = saved_x
    boundary = 1
  []
  [bot_react_y]
    type = NodalSum
    variable = saved_y
    boundary = 1
  []
  [top_react_x]
    type = NodalSum
    variable = saved_x
    boundary = 4
  []
  [top_react_y]
    type = NodalSum
    variable = saved_y
    boundary = 4
  []
  [_dt]
    type = TimestepSize
  []
  [num_lin_it]
    type = NumLinearIterations
  []
  [num_nonlin_it]
    type = NumNonlinearIterations
  []
  [cumulative]
    type = CumulativeValuePostprocessor
    postprocessor = num_nonlin_it
  []
  [gap]
    type = SideExtremeValue
    value_type = min
    variable = normal_gap
    boundary = 3
  []
  [num_al]
    type = NumAugmentedLagrangeIterations
  []
  [active_set_size]
    type = NodalSum
    variable = active
  []
[]

[BCs]
  [side_x]
    type = DirichletBC
    variable = disp_y
    boundary = '1 2'
    value = 0.0
  []
  [bot_y]
    type = DirichletBC
    variable = disp_x
    boundary = '1 2'
    value = 0.0
  []
  [top_y_disp]
    type = FunctionDirichletBC
    variable = disp_y
    boundary = 4
    function = disp_ramp_vert
  []
  [top_x_disp]
    type = FunctionDirichletBC
    variable = disp_x
    boundary = 4
    function = disp_ramp_horz
  []
[]

[Materials]
  [stuff1_elas_tens]
    type = ComputeIsotropicElasticityTensor
    block = '1'
    youngs_modulus = 1e8
    poissons_ratio = 0.0
  []
  [stuff1_stress]
    type = ComputeFiniteStrainElasticStress
    block = '1'
  []
  [stuff2_elas_tens]
    type = ComputeIsotropicElasticityTensor
    block = '2 3 4 5 6 7'
    youngs_modulus = 1e6
    poissons_ratio = 0.3
  []
  [stuff2_stress]
    type = ComputeFiniteStrainElasticStress
    block = '2 3 4 5 6 7'
  []
[]

[Executioner]
  type = Transient
  solve_type = 'NEWTON'

  petsc_options = '-snes_ksp_ew'
  petsc_options_iname = -pc_type
  petsc_options_value = lu
  line_search = 'basic'

  nl_abs_tol = 1e-10
  nl_rel_tol = 1e-8
  nl_max_its = 50
  l_tol = 1e-05
  l_abs_tol = 1e-13

  start_time = 0.0
  end_time = 0.2 # 3.5
  dt = 0.1
  dtmin = 0.1

  [Predictor]
    type = SimplePredictor
    scale = 1.0
  []

  automatic_scaling = true
  compute_scaling_once = false
  off_diagonals_in_auto_scaling = true
[]

[Preconditioning]
  [SMP]
    type = SMP
    full = true
  []
[]

[VectorPostprocessors]
  [surface]
    type = NodalValueSampler
    use_displaced_mesh = false
    variable = 'disp_x disp_y penalty_normal_pressure penalty_frictional_pressure normal_gap'
    boundary = '3'
    sort_by = id
  []
[]

[Outputs]
  print_linear_residuals = true
  perf_graph = true
  exodus = true
  csv = false
  [vectorpp_output]
    type = CSV
    create_final_symlink = true
    execute_on = 'INITIAL TIMESTEP_END FINAL'
  []
[]

[Contact]
  [al_friction]
    formulation = mortar_penalty
    model = coulomb
    primary = '2'
    secondary = '3'
    penalty = 1e5
    penalty_friction = 1e8
    friction_coefficient = 0.4
    al_penetration_tolerance = 1e-7
    al_incremental_slip_tolerance = 1.0 # Not active
    penalty_multiplier = 100
    penalty_multiplier_friction = 1
  []
[]

(modules/contact/test/tests/pdass_problems/cylinder_friction_penalty_frictional_al_action.i)

[GlobalParams]
  volumetric_locking_correction = true
  displacements = 'disp_x disp_y'
[]

[Mesh]
  [input_file]
    type = FileMeshGenerator
    file = hertz_cyl_finer.e
  []
  allow_renumbering = false
[]

[Problem]
  type = AugmentedLagrangianContactFEProblem
  extra_tag_vectors = 'ref'
[]

[AuxVariables]
  [penalty_normal_pressure]
  []
  [penalty_frictional_pressure]
  []
  [accumulated_slip_one]
  []
  [tangential_vel_one]
  []
  [normal_gap]
  []
  [normal_lm]
  []
  [saved_x]
  []
  [saved_y]
  []
  [active]
  []
[]

[Functions]
  [disp_ramp_vert]
    type = PiecewiseLinear
    x = '0. 1. 3.5'
    y = '0. -0.020 -0.020'
  []
  [disp_ramp_horz]
    type = PiecewiseLinear
    x = '0. 1. 3.5'
    y = '0. 0.0 0.015'
  []
[]

[Physics/SolidMechanics/QuasiStatic/all]
  strain = FINITE
  add_variables = true
  save_in = 'saved_x saved_y'
  extra_vector_tags = 'ref'
  block = '1 2 3 4 5 6 7'
  generate_output = 'stress_xx stress_yy stress_xy'
[]

[AuxKernels]
  [penalty_normal_pressure]
    type = PenaltyMortarUserObjectAux
    variable = penalty_normal_pressure
    user_object = penalty_friction_object_al_friction
    contact_quantity = normal_pressure
    boundary = 3
  []
  [penalty_frictional_pressure]
    type = PenaltyMortarUserObjectAux
    variable = penalty_frictional_pressure
    user_object = penalty_friction_object_al_friction
    contact_quantity = tangential_pressure_one
    boundary = 3
  []
  [penalty_tangential_vel_one]
    type = PenaltyMortarUserObjectAux
    variable = tangential_vel_one
    user_object = penalty_friction_object_al_friction
    contact_quantity = tangential_velocity_one
    boundary = 3
  []
  [penalty_accumulated_slip_one]
    type = PenaltyMortarUserObjectAux
    variable = accumulated_slip_one
    user_object = penalty_friction_object_al_friction
    contact_quantity = accumulated_slip_one
    boundary = 3
  []
  [normal_lm]
    type = PenaltyMortarUserObjectAux
    variable = normal_lm
    user_object = penalty_friction_object_al_friction
    contact_quantity = normal_lm
    boundary = 3
  []
  [normal_gap]
    type = PenaltyMortarUserObjectAux
    variable = normal_gap
    user_object = penalty_friction_object_al_friction
    contact_quantity = normal_gap
    boundary = 3
  []
[]

[Postprocessors]
  [bot_react_x]
    type = NodalSum
    variable = saved_x
    boundary = 1
  []
  [bot_react_y]
    type = NodalSum
    variable = saved_y
    boundary = 1
  []
  [top_react_x]
    type = NodalSum
    variable = saved_x
    boundary = 4
  []
  [top_react_y]
    type = NodalSum
    variable = saved_y
    boundary = 4
  []
  [_dt]
    type = TimestepSize
  []
  [num_lin_it]
    type = NumLinearIterations
  []
  [num_nonlin_it]
    type = NumNonlinearIterations
  []
  [cumulative]
    type = CumulativeValuePostprocessor
    postprocessor = num_nonlin_it
  []
  [gap]
    type = SideExtremeValue
    value_type = min
    variable = normal_gap
    boundary = 3
  []
  [num_al]
    type = NumAugmentedLagrangeIterations
  []
  [active_set_size]
    type = NodalSum
    variable = active
  []
[]

[BCs]
  [side_x]
    type = DirichletBC
    variable = disp_y
    boundary = '1 2'
    value = 0.0
  []
  [bot_y]
    type = DirichletBC
    variable = disp_x
    boundary = '1 2'
    value = 0.0
  []
  [top_y_disp]
    type = FunctionDirichletBC
    variable = disp_y
    boundary = 4
    function = disp_ramp_vert
  []
  [top_x_disp]
    type = FunctionDirichletBC
    variable = disp_x
    boundary = 4
    function = disp_ramp_horz
  []
[]

[Materials]
  [stuff1_elas_tens]
    type = ComputeIsotropicElasticityTensor
    block = '1'
    youngs_modulus = 1e8
    poissons_ratio = 0.0
  []
  [stuff1_stress]
    type = ComputeFiniteStrainElasticStress
    block = '1'
  []
  [stuff2_elas_tens]
    type = ComputeIsotropicElasticityTensor
    block = '2 3 4 5 6 7'
    youngs_modulus = 1e6
    poissons_ratio = 0.3
  []
  [stuff2_stress]
    type = ComputeFiniteStrainElasticStress
    block = '2 3 4 5 6 7'
  []
[]

[Executioner]
  type = Transient
  solve_type = 'NEWTON'

  petsc_options = '-snes_ksp_ew'
  petsc_options_iname = -pc_type
  petsc_options_value = lu
  line_search = 'basic'

  nl_abs_tol = 1e-10
  nl_rel_tol = 1e-8
  nl_max_its = 50
  l_tol = 1e-05
  l_abs_tol = 1e-13

  start_time = 0.0
  end_time = 0.2 # 3.5
  dt = 0.1
  dtmin = 0.1

  [Predictor]
    type = SimplePredictor
    scale = 1.0
  []

  automatic_scaling = true
  compute_scaling_once = false
  off_diagonals_in_auto_scaling = true
[]

[Preconditioning]
  [SMP]
    type = SMP
    full = true
  []
[]

[VectorPostprocessors]
  [surface]
    type = NodalValueSampler
    use_displaced_mesh = false
    variable = 'disp_x disp_y penalty_normal_pressure penalty_frictional_pressure normal_gap'
    boundary = '3'
    sort_by = id
  []
[]

[Outputs]
  print_linear_residuals = true
  perf_graph = true
  exodus = true
  csv = false
  [vectorpp_output]
    type = CSV
    create_final_symlink = true
    execute_on = 'INITIAL TIMESTEP_END FINAL'
  []
[]

[Contact]
  [al_friction]
    formulation = mortar_penalty
    model = coulomb
    primary = '2'
    secondary = '3'
    penalty = 1e5
    penalty_friction = 1e8
    friction_coefficient = 0.4
    al_penetration_tolerance = 1e-7
    al_incremental_slip_tolerance = 1.0 # Not active
    penalty_multiplier = 100
    penalty_multiplier_friction = 1
  []
[]

(modules/contact/test/tests/pdass_problems/cylinder_friction_penalty_frictional_al_action_amg.i)

[GlobalParams]
  volumetric_locking_correction = true
  displacements = 'disp_x disp_y'
[]

[Mesh]
  [input_file]
    type = FileMeshGenerator
    file = cond_number.e
  []
  allow_renumbering = false
[]

[Problem]
  type = AugmentedLagrangianContactFEProblem
  extra_tag_vectors = 'ref'
  maximum_lagrangian_update_iterations = 1000
[]

[AuxVariables]
  [penalty_normal_pressure]
  []
  [penalty_frictional_pressure]
  []
  [accumulated_slip_one]
  []
  [tangential_vel_one]
  []
  [normal_gap]
  []
  [normal_lm]
  []
  [saved_x]
  []
  [saved_y]
  []
  [active]
  []
[]

[Functions]
  [disp_ramp_vert]
    type = PiecewiseLinear
    x = '0. 1. 3.5'
    y = '0. -0.020 -0.020'
  []
  [disp_ramp_horz]
    type = PiecewiseLinear
    x = '0. 1. 3.5'
    y = '0. 0.0 0.015'
  []
[]

[Physics/SolidMechanics/QuasiStatic/all]
  strain = FINITE
  add_variables = true
  save_in = 'saved_x saved_y'
  extra_vector_tags = 'ref'
  block = '1 2 3 4 5 6 7'
  generate_output = 'stress_xx stress_yy stress_xy'
[]

[AuxKernels]
  [penalty_normal_pressure]
    type = PenaltyMortarUserObjectAux
    variable = penalty_normal_pressure
    user_object = penalty_friction_object_al_friction
    contact_quantity = normal_pressure
    boundary = 3
  []
  [penalty_frictional_pressure]
    type = PenaltyMortarUserObjectAux
    variable = penalty_frictional_pressure
    user_object = penalty_friction_object_al_friction
    contact_quantity = tangential_pressure_one
    boundary = 3
  []
  [penalty_tangential_vel_one]
    type = PenaltyMortarUserObjectAux
    variable = tangential_vel_one
    user_object = penalty_friction_object_al_friction
    contact_quantity = tangential_velocity_one
    boundary = 3
  []
  [penalty_accumulated_slip_one]
    type = PenaltyMortarUserObjectAux
    variable = accumulated_slip_one
    user_object = penalty_friction_object_al_friction
    contact_quantity = accumulated_slip_one
    boundary = 3
  []
  [normal_lm]
    type = PenaltyMortarUserObjectAux
    variable = normal_lm
    user_object = penalty_friction_object_al_friction
    contact_quantity = normal_lm
    boundary = 3
  []
  [normal_gap]
    type = PenaltyMortarUserObjectAux
    variable = normal_gap
    user_object = penalty_friction_object_al_friction
    contact_quantity = normal_gap
    boundary = 3
  []
[]

[Postprocessors]
  [bot_react_x]
    type = NodalSum
    variable = saved_x
    boundary = 1
  []
  [bot_react_y]
    type = NodalSum
    variable = saved_y
    boundary = 1
  []
  [top_react_x]
    type = NodalSum
    variable = saved_x
    boundary = 4
  []
  [top_react_y]
    type = NodalSum
    variable = saved_y
    boundary = 4
  []
  [_dt]
    type = TimestepSize
  []
  [num_lin_it]
    type = NumLinearIterations
  []
  [num_nonlin_it]
    type = NumNonlinearIterations
  []
  [cumulative]
    type = CumulativeValuePostprocessor
    postprocessor = num_nonlin_it
  []
  [gap]
    type = SideExtremeValue
    value_type = min
    variable = normal_gap
    boundary = 3
  []
  [num_al]
    type = NumAugmentedLagrangeIterations
  []
  [active_set_size]
    type = NodalSum
    variable = active
  []
[]

[BCs]
  [side_x]
    type = DirichletBC
    variable = disp_y
    boundary = '1 2'
    value = 0.0
  []
  [bot_y]
    type = DirichletBC
    variable = disp_x
    boundary = '1 2'
    value = 0.0
  []
  [top_y_disp]
    type = FunctionDirichletBC
    variable = disp_y
    boundary = 4
    function = disp_ramp_vert
  []
  [top_x_disp]
    type = FunctionDirichletBC
    variable = disp_x
    boundary = 4
    function = disp_ramp_horz
  []
[]

[Materials]
  [stuff1_elas_tens]
    type = ComputeIsotropicElasticityTensor
    block = '1'
    youngs_modulus = 1e8
    poissons_ratio = 0.0
  []
  [stuff1_stress]
    type = ComputeFiniteStrainElasticStress
    block = '1'
  []
  [stuff2_elas_tens]
    type = ComputeIsotropicElasticityTensor
    block = '2 3 4 5 6 7'
    youngs_modulus = 1e6
    poissons_ratio = 0.3
  []
  [stuff2_stress]
    type = ComputeFiniteStrainElasticStress
    block = '2 3 4 5 6 7'
  []
[]

[Executioner]
  type = Transient
  solve_type = 'NEWTON'

  petsc_options = '-ksp_snes_ew'
  petsc_options_iname = '-ksp_gmres_restart -pc_type -pc_hypre_type -pc_hypre_boomeramg_max_iter'
  petsc_options_value = ' 201                hypre    boomeramg      8'

  line_search = 'none'

  nl_abs_tol = 1e-10
  nl_rel_tol = 1e-8
  nl_max_its = 50
  l_tol = 1e-05
  l_abs_tol = 1e-13

  start_time = 0.0
  end_time = 0.2 # 1.0
  dt = 0.1
  dtmin = 0.1

  [Predictor]
    type = SimplePredictor
    scale = 1.0
  []

  automatic_scaling = true
  compute_scaling_once = false
  off_diagonals_in_auto_scaling = true
[]

[Preconditioning]
  [SMP]
    type = SMP
    full = true
  []
[]

[VectorPostprocessors]
  [surface]
    type = NodalValueSampler
    use_displaced_mesh = false
    variable = 'disp_x disp_y penalty_normal_pressure penalty_frictional_pressure normal_gap'
    boundary = '3'
    sort_by = id
  []
[]

[Outputs]
  print_linear_residuals = true
  perf_graph = true
  exodus = true
  csv = false
  [vectorpp_output]
    type = CSV
    create_final_symlink = true
    execute_on = 'INITIAL TIMESTEP_END FINAL'
  []
[]

[Contact]
  [al_friction]
    formulation = mortar_penalty
    model = coulomb
    primary = '2'
    secondary = '3'
    penalty = 1e7
    penalty_friction = 1e+7
    friction_coefficient = 0.4
    al_penetration_tolerance = 1e-7
    al_incremental_slip_tolerance = 1.0 # Not active
    penalty_multiplier = 100
  []
[]

(modules/contact/test/tests/pdass_problems/cylinder_friction_penalty.i)

[GlobalParams]
  volumetric_locking_correction = true
  displacements = 'disp_x disp_y'
[]

[Mesh]
  [input_file]
    type = FileMeshGenerator
    file = hertz_cyl_coarser.e
  []
  [secondary]
    type = LowerDBlockFromSidesetGenerator
    new_block_id = 10001
    new_block_name = 'secondary_lower'
    sidesets = '3'
    input = input_file
  []
  [primary]
    type = LowerDBlockFromSidesetGenerator
    new_block_id = 10000
    sidesets = '2'
    new_block_name = 'primary_lower'
    input = secondary
  []
  allow_renumbering = false
[]

[Problem]
  type = ReferenceResidualProblem
  extra_tag_vectors = 'ref'
  reference_vector = 'ref'
[]

[Variables]
  [disp_x]
  []
  [disp_y]
  []
[]

[AuxVariables]
  [penalty_normal_pressure]
    order = FIRST
    family = LAGRANGE
  []
  [penalty_frictional_pressure]
    order = FIRST
    family = LAGRANGE
  []
  [accumulated_slip_one]
    order = FIRST
    family = LAGRANGE
  []
  [tangential_vel_one]
    order = FIRST
    family = LAGRANGE
  []
  [weighted_gap]
    order = FIRST
    family = LAGRANGE
  []
  [stress_xx]
    order = CONSTANT
    family = MONOMIAL
  []
  [stress_yy]
    order = CONSTANT
    family = MONOMIAL
  []
  [stress_xy]
    order = CONSTANT
    family = MONOMIAL
  []
  [react_x]
  []
  [react_y]
  []
[]

[Functions]
  [disp_ramp_vert]
    type = PiecewiseLinear
    x = '0. 1. 3.5'
    y = '0. -0.020 -0.020'
  []
  [disp_ramp_horz]
    type = PiecewiseLinear
    x = '0. 1. 3.5'
    y = '0. 0.0 0.015'
  []
[]

[Kernels]
  [TensorMechanics]
    use_displaced_mesh = true
    extra_vector_tags = 'ref'
    block = '1 2 3 4 5 6 7'
  []
[]

[AuxKernels]
  [penalty_normal_pressure_auxk]
    type = PenaltyMortarUserObjectAux
    variable = penalty_normal_pressure
    user_object = friction_uo
    contact_quantity = normal_pressure
  []
  [penalty_frictional_pressure_auxk]
    type = PenaltyMortarUserObjectAux
    variable = penalty_frictional_pressure
    user_object = friction_uo
    contact_quantity = tangential_pressure_one
  []
  [penalty_accumulated_slip_auxk]
    type = PenaltyMortarUserObjectAux
    variable = accumulated_slip_one
    user_object = friction_uo
    contact_quantity = accumulated_slip_one
  []
  [penalty_tangential_vel_auxk]
    type = PenaltyMortarUserObjectAux
    variable = tangential_vel_one
    user_object = friction_uo
    contact_quantity = tangential_velocity_one
  []
  [penalty_weighted_gap_auxk]
    type = PenaltyMortarUserObjectAux
    variable = weighted_gap
    user_object = friction_uo
    contact_quantity = normal_gap
  []
  [stress_xx]
    type = RankTwoAux
    rank_two_tensor = stress
    variable = stress_xx
    index_i = 0
    index_j = 0
    execute_on = timestep_end
    block = '1 2 3 4 5 6 7'
  []
  [stress_yy]
    type = RankTwoAux
    rank_two_tensor = stress
    variable = stress_yy
    index_i = 1
    index_j = 1
    execute_on = timestep_end
    block = '1 2 3 4 5 6 7'
  []
  [stress_xy]
    type = RankTwoAux
    rank_two_tensor = stress
    variable = stress_xy
    index_i = 0
    index_j = 1
    execute_on = timestep_end
    block = '1 2 3 4 5 6 7'
  []
  [react_x]
    type = TagVectorAux
    vector_tag = 'ref'
    v = 'disp_x'
    variable = 'react_x'
  []
  [react_y]
    type = TagVectorAux
    vector_tag = 'ref'
    v = 'disp_y'
    variable = 'react_y'
  []
[]

[Postprocessors]
  [bot_react_x]
    type = NodalSum
    variable = react_x
    boundary = 1
  []
  [bot_react_y]
    type = NodalSum
    variable = react_y
    boundary = 1
  []
  [top_react_x]
    type = NodalSum
    variable = react_x
    boundary = 4
  []
  [top_react_y]
    type = NodalSum
    variable = react_y
    boundary = 4
  []
[]

[BCs]
  [side_x]
    type = DirichletBC
    variable = disp_y
    boundary = '1 2'
    value = 0.0
  []
  [bot_y]
    type = DirichletBC
    variable = disp_x
    boundary = '1 2'
    value = 0.0
  []
  [top_y_disp]
    type = FunctionDirichletBC
    variable = disp_y
    boundary = 4
    function = disp_ramp_vert
  []
  [top_x_disp]
    type = FunctionDirichletBC
    variable = disp_x
    boundary = 4
    function = disp_ramp_horz
  []
[]

[Materials]
  [stuff1_elas_tens]
    type = ComputeIsotropicElasticityTensor
    block = '1'
    youngs_modulus = 1e10
    poissons_ratio = 0.0
  []
  [stuff1_strain]
    type = ComputeFiniteStrain
    block = '1'
  []
  [stuff1_stress]
    type = ComputeFiniteStrainElasticStress
    block = '1'
  []
  [stuff2_elas_tens]
    type = ComputeIsotropicElasticityTensor
    block = '2 3 4 5 6 7'
    youngs_modulus = 1e6
    poissons_ratio = 0.3
  []
  [stuff2_strain]
    type = ComputeFiniteStrain
    block = '2 3 4 5 6 7'
  []
  [stuff2_stress]
    type = ComputeFiniteStrainElasticStress
    block = '2 3 4 5 6 7'
  []
[]

[Executioner]
  type = Transient
  solve_type = 'PJFNK'

  petsc_options = '-snes_ksp_ew'
  petsc_options_iname = '-pc_type -pc_factor_mat_solver_type -pc_factor_shift_type '
                        '-pc_factor_shift_amount -mat_mffd_err'
  petsc_options_value = 'lu       superlu_dist                  NONZERO               1e-15          '
                        '         1e-5'

  line_search = 'none'

  nl_abs_tol = 1e-14
  nl_rel_tol = 1e-10
  start_time = 0.0
  end_time = 0.3 # 3.5
  l_tol = 1e-4
  dt = 0.1
  dtmin = 0.001
  [Predictor]
    type = SimplePredictor
    scale = 1.0
  []
[]

[Preconditioning]
  [SMP]
    type = SMP
    full = true
  []
[]

[VectorPostprocessors]
  [x_disp]
    type = NodalValueSampler
    variable = disp_x
    boundary = '3'
    sort_by = id
  []
  [y_disp]
    type = NodalValueSampler
    variable = disp_y
    boundary = '3'
    sort_by = id
  []
  [cont_press]
    type = NodalValueSampler
    variable = penalty_normal_pressure
    boundary = '3'
    sort_by = id
  []
  [friction]
    type = NodalValueSampler
    variable = penalty_frictional_pressure
    boundary = '3'
    sort_by = id
  []
[]

[Outputs]
  print_linear_residuals = true
  perf_graph = true
  exodus = true
  csv = false
  [console]
    type = Console
    max_rows = 5
  []
  [chkfile]
    type = CSV
    show = 'x_disp y_disp cont_press friction'
    file_base = cylinder_friction_penalty_check
    create_final_symlink = true
    execute_on = 'FINAL'
  []
[]

[UserObjects]
  [friction_uo]
    type = PenaltyFrictionUserObject
    primary_boundary = '2'
    secondary_boundary = '3'
    primary_subdomain = '10000'
    secondary_subdomain = '10001'
    disp_x = disp_x
    disp_y = disp_y
    friction_coefficient = 0.4 # with 2.0 works
    secondary_variable = disp_x
    penalty = 5e9
    penalty_friction = 1e7
  []
[]

[Constraints]
  [x]
    type = NormalMortarMechanicalContact
    primary_boundary = '2'
    secondary_boundary = '3'
    primary_subdomain = '10000'
    secondary_subdomain = '10001'
    secondary_variable = disp_x
    component = x
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_gap_uo = friction_uo
  []
  [y]
    type = NormalMortarMechanicalContact
    primary_boundary = '2'
    secondary_boundary = '3'
    primary_subdomain = '10000'
    secondary_subdomain = '10001'
    secondary_variable = disp_y
    component = y
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_gap_uo = friction_uo
  []
  [tangential_x]
    type = TangentialMortarMechanicalContact
    primary_boundary = 2
    secondary_boundary = 3
    primary_subdomain = 10000
    secondary_subdomain = 10001
    secondary_variable = disp_x
    component = x
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_velocities_uo = friction_uo
  []
  [tangential_y]
    type = TangentialMortarMechanicalContact
    primary_boundary = 2
    secondary_boundary = 3
    primary_subdomain = 10000
    secondary_subdomain = 10001
    secondary_variable = disp_y
    component = y
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_velocities_uo = friction_uo
  []
[]

(modules/contact/test/tests/3d-mortar-contact/frictional-mortar-3d-al.i)

starting_point = 0.25
offset = 0.00

[GlobalParams]
  displacements = 'disp_x disp_y disp_z'
  volumetric_locking_correction = true
[]

[AuxVariables]
  [penalty_normal_pressure]
    order = FIRST
    family = LAGRANGE
  []
  [penalty_frictional_pressure_one]
    order = FIRST
    family = LAGRANGE
  []
  [accumulated_slip_one]
    order = FIRST
    family = LAGRANGE
  []
  [penalty_frictional_pressure_two]
    order = FIRST
    family = LAGRANGE
  []
  [accumulated_slip_two]
    order = FIRST
    family = LAGRANGE
  []
[]

[Problem]
  type = AugmentedLagrangianContactFEProblem
[]

[AuxKernels]
  [penalty_normal_pressure_auxk]
    type = PenaltyMortarUserObjectAux
    variable = penalty_normal_pressure
    user_object = friction_uo
    contact_quantity = normal_pressure
  []
  [penalty_frictional_pressure_one_auxk]
    type = PenaltyMortarUserObjectAux
    variable = penalty_frictional_pressure_one
    user_object = friction_uo
    contact_quantity = tangential_pressure_one
  []
  [penalty_accumulated_slip_auxk]
    type = PenaltyMortarUserObjectAux
    variable = accumulated_slip_one
    user_object = friction_uo
    contact_quantity = accumulated_slip_one
  []
  [penalty_frictional_pressure_two_auxk]
    type = PenaltyMortarUserObjectAux
    variable = penalty_frictional_pressure_two
    user_object = friction_uo
    contact_quantity = tangential_pressure_two
  []
  [penalty_accumulated_slip_two_auxk]
    type = PenaltyMortarUserObjectAux
    variable = accumulated_slip_two
    user_object = friction_uo
    contact_quantity = accumulated_slip_two
  []
[]

[Mesh]
  [top_block]
    type = GeneratedMeshGenerator
    dim = 3
    nx = 3
    ny = 3
    nz = 3
    xmin = -0.25
    xmax = 0.25
    ymin = -0.25
    ymax = 0.25
    zmin = -0.25
    zmax = 0.25
    elem_type = HEX8
  []
  [rotate_top_block]
    type = TransformGenerator
    input = top_block
    transform = ROTATE
    vector_value = '0 0 0'
  []
  [top_block_sidesets]
    type = RenameBoundaryGenerator
    input = rotate_top_block
    old_boundary = '0 1 2 3 4 5'
    new_boundary = 'top_bottom top_back top_right top_front top_left top_top'
  []
  [top_block_id]
    type = SubdomainIDGenerator
    input = top_block_sidesets
    subdomain_id = 1
  []
  [bottom_block]
    type = GeneratedMeshGenerator
    dim = 3
    nx = 10
    ny = 10
    nz = 2
    xmin = -.5
    xmax = .5
    ymin = -.5
    ymax = .5
    zmin = -.3
    zmax = -.25
    elem_type = HEX8
  []
  [bottom_block_id]
    type = SubdomainIDGenerator
    input = bottom_block
    subdomain_id = 2
  []
  [bottom_block_change_boundary_id]
    type = RenameBoundaryGenerator
    input = bottom_block_id
    old_boundary = '0 1 2 3 4 5'
    new_boundary = '100 101 102 103 104 105'
  []
  [combined]
    type = MeshCollectionGenerator
    inputs = 'top_block_id bottom_block_change_boundary_id'
  []
  [block_rename]
    type = RenameBlockGenerator
    input = combined
    old_block = '1 2'
    new_block = 'top_block bottom_block'
  []
  [bottom_right_sideset]
    type = SideSetsAroundSubdomainGenerator
    input = block_rename
    new_boundary = bottom_right
    block = bottom_block
    normal = '1 0 0'
  []
  [bottom_left_sideset]
    type = SideSetsAroundSubdomainGenerator
    input = bottom_right_sideset
    new_boundary = bottom_left
    block = bottom_block
    normal = '-1 0 0'
  []
  [bottom_top_sideset]
    type = SideSetsAroundSubdomainGenerator
    input = bottom_left_sideset
    new_boundary = bottom_top
    block = bottom_block
    normal = '0 0 1'
  []
  [bottom_bottom_sideset]
    type = SideSetsAroundSubdomainGenerator
    input = bottom_top_sideset
    new_boundary = bottom_bottom
    block = bottom_block
    normal = '0  0 -1'
  []
  [bottom_front_sideset]
    type = SideSetsAroundSubdomainGenerator
    input = bottom_bottom_sideset
    new_boundary = bottom_front
    block = bottom_block
    normal = '0 1 0'
  []
  [bottom_back_sideset]
    type = SideSetsAroundSubdomainGenerator
    input = bottom_front_sideset
    new_boundary = bottom_back
    block = bottom_block
    normal = '0 -1 0'
  []
  [secondary]
    input = bottom_back_sideset
    type = LowerDBlockFromSidesetGenerator
    sidesets = 'top_bottom' # top_back top_left'
    new_block_id = '10001'
    new_block_name = 'secondary_lower'
  []
  [primary]
    input = secondary
    type = LowerDBlockFromSidesetGenerator
    sidesets = 'bottom_top'
    new_block_id = '10000'
    new_block_name = 'primary_lower'
  []
  allow_renumbering = false
[]

[Variables]

[]

[Physics/SolidMechanics/QuasiStatic]
  [all]
    add_variables = true
    strain = FINITE
    block = '1 2'
    use_automatic_differentiation = false
    generate_output = 'stress_xx stress_xy stress_xz stress_yy stress_zz'
  []
[]

[Materials]
  [tensor]
    type = ComputeIsotropicElasticityTensor
    block = '1'
    youngs_modulus = 1.0e5
    poissons_ratio = 0.0
  []
  [stress]
    type = ComputeFiniteStrainElasticStress
    block = '1'
  []

  [tensor_1000]
    type = ComputeIsotropicElasticityTensor
    block = '2'
    youngs_modulus = 1e5
    poissons_ratio = 0.0
  []
  [stress_1000]
    type = ComputeFiniteStrainElasticStress
    block = '2'
  []
[]

# Other object should mix formulations
[UserObjects]
  [friction_uo]
    type = PenaltyFrictionUserObject
    primary_boundary = 'bottom_top'
    secondary_boundary = 'top_bottom'
    primary_subdomain = 'primary_lower'
    secondary_subdomain = 'secondary_lower'
    disp_x = disp_x
    disp_y = disp_y
    disp_z = disp_z
    friction_coefficient = 0.4
    secondary_variable = disp_x
    penalty = 1e0
    penalty_friction = 1e1

    slip_tolerance = 7.0e-4 # 1e-6
    penetration_tolerance = 7.0e-4
    # max_penalty_multiplier = 10
    penalty_multiplier = 10
    penalty_multiplier_friction = 5
  []
[]

[Constraints]
  [normal_x]
    type = NormalMortarMechanicalContact
    primary_boundary = 'bottom_top'
    secondary_boundary = 'top_bottom'
    primary_subdomain = 'primary_lower'
    secondary_subdomain = 'secondary_lower'
    secondary_variable = disp_x
    component = x
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_gap_uo = friction_uo
  []
  [normal_y]
    type = NormalMortarMechanicalContact
    primary_boundary = 'bottom_top'
    secondary_boundary = 'top_bottom'
    primary_subdomain = 'primary_lower'
    secondary_subdomain = 'secondary_lower'
    secondary_variable = disp_y
    component = y
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_gap_uo = friction_uo
  []
  [normal_z]
    type = NormalMortarMechanicalContact
    primary_boundary = 'bottom_top'
    secondary_boundary = 'top_bottom'
    primary_subdomain = 'primary_lower'
    secondary_subdomain = 'secondary_lower'
    secondary_variable = disp_z
    component = z
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_gap_uo = friction_uo
  []
  [tangential_x]
    type = TangentialMortarMechanicalContact
    primary_boundary = 'bottom_top'
    secondary_boundary = 'top_bottom'
    primary_subdomain = 'primary_lower'
    secondary_subdomain = 'secondary_lower'
    secondary_variable = disp_x
    component = x
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_velocities_uo = friction_uo
  []
  [tangential_y]
    type = TangentialMortarMechanicalContact
    primary_boundary = 'bottom_top'
    secondary_boundary = 'top_bottom'
    primary_subdomain = 'primary_lower'
    secondary_subdomain = 'secondary_lower'
    secondary_variable = disp_y
    component = y
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_velocities_uo = friction_uo
  []
  [tangential_z]
    type = TangentialMortarMechanicalContact
    primary_boundary = 'bottom_top'
    secondary_boundary = 'top_bottom'
    primary_subdomain = 'primary_lower'
    secondary_subdomain = 'secondary_lower'
    secondary_variable = disp_z
    component = z
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_velocities_uo = friction_uo
  []
  [tangential_dir_x]
    type = TangentialMortarMechanicalContact
    primary_boundary = 'bottom_top'
    secondary_boundary = 'top_bottom'
    primary_subdomain = 'primary_lower'
    secondary_subdomain = 'secondary_lower'
    secondary_variable = disp_x
    component = x
    direction = direction_2
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_velocities_uo = friction_uo
  []
  [tangential_dir_y]
    type = TangentialMortarMechanicalContact
    primary_boundary = 'bottom_top'
    secondary_boundary = 'top_bottom'
    primary_subdomain = 'primary_lower'
    secondary_subdomain = 'secondary_lower'
    secondary_variable = disp_y
    component = y
    direction = direction_2
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_velocities_uo = friction_uo
  []
  [tangential_dir_z]
    type = TangentialMortarMechanicalContact
    primary_boundary = 'bottom_top'
    secondary_boundary = 'top_bottom'
    primary_subdomain = 'primary_lower'
    secondary_subdomain = 'secondary_lower'
    secondary_variable = disp_z
    component = z
    direction = direction_2
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_velocities_uo = friction_uo
  []
[]

[BCs]
  [botx]
    type = DirichletBC
    variable = disp_x
    boundary = 'bottom_left bottom_right bottom_front bottom_back'
    value = 0.0
  []
  [boty]
    type = DirichletBC
    variable = disp_y
    boundary = 'bottom_left bottom_right bottom_front bottom_back'
    value = 0.0
  []
  [botz]
    type = DirichletBC
    variable = disp_z
    boundary = 'bottom_left bottom_right bottom_front bottom_back'
    value = 0.0
  []
  [topx]
    type = DirichletBC
    variable = disp_x
    boundary = 'top_top'
    value = 0.0
  []
  [topy]
    type = DirichletBC
    variable = disp_y
    boundary = 'top_top'
    value = 0.0
  []
  [topz]
    type = FunctionDirichletBC
    variable = disp_z
    boundary = 'top_top'
    function = '-${starting_point} * sin(2 * pi / 40 * t) + ${offset}'
  []
[]

[Executioner]
  type = Transient
  end_time = .025
  dt = .025
  dtmin = .001
  solve_type = 'PJFNK'
  petsc_options = '-snes_converged_reason -ksp_converged_reason -snes_ksp_ew'
  petsc_options_iname = '-pc_type -pc_factor_mat_solver_type'
  petsc_options_value = 'lu       superlu_dist'
  l_max_its = 15
  nl_max_its = 90
  nl_rel_tol = 1e-12
  nl_abs_tol = 1e-13
  line_search = 'basic'
[]

[Debug]
  show_var_residual_norms = true
[]

[Outputs]
  exodus = true
  csv = true
[]

[Preconditioning]
  [smp]
    type = SMP
    full = true
  []
[]

[Postprocessors]
[]

[VectorPostprocessors]
[]

(modules/contact/test/tests/pdass_problems/ironing_penalty.i)

[GlobalParams]
  volumetric_locking_correction = true
  displacements = 'disp_x disp_y'
[]

[Mesh]
  [input_file]
    type = FileMeshGenerator
    file = iron.e
  []
  [secondary]
    type = LowerDBlockFromSidesetGenerator
    new_block_id = 10001
    new_block_name = 'secondary_lower'
    sidesets = '10'
    input = input_file
  []
  [primary]
    type = LowerDBlockFromSidesetGenerator
    new_block_id = 10000
    sidesets = '20'
    new_block_name = 'primary_lower'
    input = secondary
  []
  patch_update_strategy = auto
  patch_size = 20
  allow_renumbering = false
[]

[Variables]
  [disp_x]
  []
  [disp_y]
  []
[]

[AuxVariables]
  [penalty_normal_pressure]
    order = FIRST
    family = LAGRANGE
  []
  [penalty_frictional_pressure]
    order = FIRST
    family = LAGRANGE
  []
  [accumulated_slip_one]
    order = FIRST
    family = LAGRANGE
  []
  [tangential_vel_one]
    order = FIRST
    family = LAGRANGE
  []
  [real_weighted_gap]
    order = FIRST
    family = LAGRANGE
  []
  [stress_xx]
    order = CONSTANT
    family = MONOMIAL
  []
  [stress_yy]
    order = CONSTANT
    family = MONOMIAL
  []
  [stress_xy]
    order = CONSTANT
    family = MONOMIAL
  []
  [saved_x]
  []
  [saved_y]
  []
  [diag_saved_x]
  []
  [diag_saved_y]
  []
  [von_mises]
    order = CONSTANT
    family = MONOMIAL
  []
[]

[Functions]
  [disp_ramp_vert]
    type = PiecewiseLinear
    x = '0. 2. 8.'
    y = '0. -1.0 -1.0'
  []
  [disp_ramp_horz]
    type = PiecewiseLinear
    x = '0. 8.'
    y = '0. 8.'
  []
[]

[Kernels]
  [TensorMechanics]
    use_displaced_mesh = true
    save_in = 'saved_x saved_y'
    block = '1 2'
    strain = FINITE
  []
[]

[AuxKernels]
  [penalty_normal_pressure_auxk]
    type = PenaltyMortarUserObjectAux
    variable = penalty_normal_pressure
    user_object = friction_uo
    contact_quantity = normal_pressure
  []
  [penalty_frictional_pressure_auxk]
    type = PenaltyMortarUserObjectAux
    variable = penalty_frictional_pressure
    user_object = friction_uo
    contact_quantity = tangential_pressure_one
  []
  [penalty_accumulated_slip_auxk]
    type = PenaltyMortarUserObjectAux
    variable = accumulated_slip_one
    user_object = friction_uo
    contact_quantity = accumulated_slip_one
  []
  [penalty_tangential_vel_auxk]
    type = PenaltyMortarUserObjectAux
    variable = tangential_vel_one
    user_object = friction_uo
    contact_quantity = tangential_velocity_one
  []
  [real_weighted_gap_auxk]
    type = PenaltyMortarUserObjectAux
    variable = real_weighted_gap
    user_object = friction_uo
    contact_quantity = normal_gap
  []
  [stress_xx]
    type = RankTwoAux
    rank_two_tensor = stress
    variable = stress_xx
    index_i = 0
    index_j = 0
    execute_on = timestep_end
    block = '1 2'
  []
  [stress_yy]
    type = RankTwoAux
    rank_two_tensor = stress
    variable = stress_yy
    index_i = 1
    index_j = 1
    execute_on = timestep_end
    block = '1 2'
  []
  [stress_xy]
    type = RankTwoAux
    rank_two_tensor = stress
    variable = stress_xy
    index_i = 0
    index_j = 1
    execute_on = timestep_end
    block = '1 2'
  []
  [von_mises_kernel]
    #Calculates the von mises stress and assigns it to von_mises
    type = RankTwoScalarAux
    variable = von_mises
    rank_two_tensor = stress
    execute_on = timestep_end
    scalar_type = VonMisesStress
    block = '1 2'
  []
[]

[VectorPostprocessors]
  [penalty_normal_pressure]
    type = NodalValueSampler
    variable = penalty_normal_pressure
    boundary = 10
    sort_by = id
  []
[]

[BCs]
  [bot_x_disp]
    type = DirichletBC
    variable = disp_x
    boundary = '40'
    value = 0.0
    preset = false
  []
  [bot_y_disp]
    type = DirichletBC
    variable = disp_y
    boundary = '40'
    value = 0.0
    preset = false
  []
  [top_y_disp]
    type = FunctionDirichletBC
    variable = disp_y
    boundary = '30'
    function = disp_ramp_vert
    preset = false
  []
  [top_x_disp]
    type = FunctionDirichletBC
    variable = disp_x
    boundary = '30'
    function = disp_ramp_horz
    preset = false
  []
[]

[Materials]
  [stuff1_elas_tens]
    type = ComputeIsotropicElasticityTensor
    block = '2'
    youngs_modulus = 6896
    poissons_ratio = 0.32
  []
  [stuff1_strain]
    type = ComputeFiniteStrain
    block = '2'
  []
  [stuff1_stress]
    type = ComputeFiniteStrainElasticStress
    block = '2'
  []
  [stuff2_elas_tens]
    type = ComputeIsotropicElasticityTensor
    block = '1'
    youngs_modulus = 689.6
    poissons_ratio = 0.32
  []
  [stuff2_strain]
    type = ComputeFiniteStrain
    block = '1'
  []
  [stuff2_stress]
    type = ComputeFiniteStrainElasticStress
    block = '1'
  []
[]

[Executioner]
  type = Transient
  solve_type = 'PJFNK'

  petsc_options = '-snes_ksp_ew'
  petsc_options_iname = '-pc_type -pc_factor_mat_solver_type'
  petsc_options_value = 'lu     superlu_dist'
  line_search = 'none'

  nl_abs_tol = 1e-7
  nl_rel_tol = 1e-7
  l_tol = 1e-6

  l_max_its = 50
  nl_max_its = 30

  start_time = 0.0
  end_time = 6.5 # 6.5

  dt = 0.0125
  dtmin = 1e-5
  [Predictor]
    type = SimplePredictor
    scale = 1.0
  []
[]

[Preconditioning]
  [SMP]
    type = SMP
    full = true
  []
[]

[Outputs]
  print_linear_residuals = true
  perf_graph = true
  exodus = true
  csv = true
  [chkfile]
    type = CSV
    start_time = 0.0
    execute_vector_postprocessors_on = FINAL
  []

  [console]
    type = Console
    max_rows = 5
  []
[]

[Debug]
  show_var_residual_norms = true
[]

[UserObjects]
  [friction_uo]
    type = PenaltyFrictionUserObject
    primary_boundary = 20
    secondary_boundary = 10
    primary_subdomain = 10000
    secondary_subdomain = 10001
    disp_x = disp_x
    disp_y = disp_y
    friction_coefficient = 0.1 # with 2.0 works
    secondary_variable = disp_x
    penalty = 1e5
    penalty_friction = 1e4
    use_physical_gap = true
  []
[]

[Constraints]
  [x]
    type = NormalMortarMechanicalContact
    primary_boundary = 20
    secondary_boundary = 10
    primary_subdomain = 10000
    secondary_subdomain = 10001
    secondary_variable = disp_x
    component = x
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_gap_uo = friction_uo
  []
  [y]
    type = NormalMortarMechanicalContact
    primary_boundary = 20
    secondary_boundary = 10
    primary_subdomain = 10000
    secondary_subdomain = 10001
    secondary_variable = disp_y
    component = y
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_gap_uo = friction_uo
  []
  [t_x]
    type = TangentialMortarMechanicalContact
    primary_boundary = 20
    secondary_boundary = 10
    primary_subdomain = 10000
    secondary_subdomain = 10001
    secondary_variable = disp_x
    component = x
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_velocities_uo = friction_uo
  []
  [t_y]
    type = TangentialMortarMechanicalContact
    primary_boundary = 20
    secondary_boundary = 10
    primary_subdomain = 10000
    secondary_subdomain = 10001
    secondary_variable = disp_y
    component = y
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_velocities_uo = friction_uo
  []
[]

(modules/contact/test/tests/bouncing-block-contact/frictional-penalty-weighted-vel.i)

starting_point = 2e-1
offset = 1e-2

[GlobalParams]
  displacements = 'disp_x disp_y'
  diffusivity = 1e0
  scaling = 1e0
  preset = false
[]

[Mesh]
  file = long-bottom-block-1elem-blocks.e
[]

[Variables]
  [disp_x]
    block = '1 2'
  []
  [disp_y]
    block = '1 2'
  []
[]

[ICs]
  [disp_y]
    block = 2
    variable = disp_y
    value = '${fparse starting_point + offset}'
    type = ConstantIC
  []
[]

[Kernels]
  [disp_x]
    type = MatDiffusion
    variable = disp_x
  []
  [disp_y]
    type = MatDiffusion
    variable = disp_y
  []
[]

[UserObjects]
  [weighted_vel_uo]
    type = PenaltyFrictionUserObject
    primary_boundary = 20
    secondary_boundary = 10
    primary_subdomain = 4
    secondary_subdomain = 3
    secondary_variable = disp_x
    disp_x = disp_x
    disp_y = disp_y
    penalty = 5e1
    penalty_friction = 1e0
    friction_coefficient = 0.4
  []
[]

[Constraints]
  [normal_x]
    type = NormalMortarMechanicalContact
    primary_boundary = 20
    secondary_boundary = 10
    primary_subdomain = 4
    secondary_subdomain = 3
    secondary_variable = disp_x
    component = x
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_gap_uo = weighted_vel_uo
  []
  [normal_y]
    type = NormalMortarMechanicalContact
    primary_boundary = 20
    secondary_boundary = 10
    primary_subdomain = 4
    secondary_subdomain = 3
    secondary_variable = disp_y
    component = y
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_gap_uo = weighted_vel_uo
  []
  [tangent_x]
    type = TangentialMortarMechanicalContact
    primary_boundary = 20
    secondary_boundary = 10
    primary_subdomain = 4
    secondary_subdomain = 3
    secondary_variable = disp_x
    component = x
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_velocities_uo = weighted_vel_uo
  []
  [tangent_y]
    type = TangentialMortarMechanicalContact
    primary_boundary = 20
    secondary_boundary = 10
    primary_subdomain = 4
    secondary_subdomain = 3
    secondary_variable = disp_y
    component = y
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_velocities_uo = weighted_vel_uo
  []
[]

[BCs]
  [botx]
    type = DirichletBC
    variable = disp_x
    boundary = 40
    value = 0.0
  []
  [boty]
    type = DirichletBC
    variable = disp_y
    boundary = 40
    value = 0.0
  []
  [topy]
    type = FunctionDirichletBC
    variable = disp_y
    boundary = 30
    function = '${starting_point} * cos(2 * pi / 40 * t) + ${offset}'
  []
  [leftx]
    type = FunctionDirichletBC
    variable = disp_x
    boundary = 50
    function = '1e-2 * t'
  []
[]

[Executioner]
  type = Transient
  end_time = 200
  dt = 5
  dtmin = .1
  solve_type = 'PJFNK'
  petsc_options = '-snes_converged_reason -ksp_converged_reason -pc_svd_monitor '
                  '-snes_linesearch_monitor'
  petsc_options_iname = '-pc_type -pc_factor_shift_type -pc_factor_shift_amount -mat_mffd_err'
  petsc_options_value = 'lu       NONZERO               1e-15                   1e-5'
  l_max_its = 30
  nl_max_its = 20
  line_search = 'none'
  snesmf_reuse_base = true
  abort_on_solve_fail = true
  nl_rel_tol = 1e-12
[]

[Debug]
  show_var_residual_norms = true
[]

[Outputs]
  exodus = true
[]

[Preconditioning]
  [smp]
    type = SMP
    full = true
  []
[]

[Postprocessors]
  active = 'num_nl cumulative'
  [num_nl]
    type = NumNonlinearIterations
  []
  [cumulative]
    type = CumulativeValuePostprocessor
    postprocessor = num_nl
  []
[]

(modules/contact/test/tests/pdass_problems/ironing_penalty_al.i)

[GlobalParams]
  volumetric_locking_correction = true
  displacements = 'disp_x disp_y'
[]

[Mesh]
  [input_file]
    type = FileMeshGenerator
    file = iron.e
  []
  [secondary]
    type = LowerDBlockFromSidesetGenerator
    new_block_id = 10001
    new_block_name = 'secondary_lower'
    sidesets = '10'
    input = input_file
  []
  [primary]
    type = LowerDBlockFromSidesetGenerator
    new_block_id = 10000
    sidesets = '20'
    new_block_name = 'primary_lower'
    input = secondary
  []
  patch_update_strategy = auto
  patch_size = 20
  allow_renumbering = false
[]

[Variables]
  [disp_x]
  []
  [disp_y]
  []
[]

[AuxVariables]
  [penalty_normal_pressure]
    order = FIRST
    family = LAGRANGE
  []
  [penalty_frictional_pressure]
    order = FIRST
    family = LAGRANGE
  []
  [accumulated_slip_one]
    order = FIRST
    family = LAGRANGE
  []
  [tangential_vel_one]
    order = FIRST
    family = LAGRANGE
  []
  [real_weighted_gap]
    order = FIRST
    family = LAGRANGE
  []
  [stress_xx]
    order = CONSTANT
    family = MONOMIAL
  []
  [stress_yy]
    order = CONSTANT
    family = MONOMIAL
  []
  [stress_xy]
    order = CONSTANT
    family = MONOMIAL
  []
  [saved_x]
  []
  [saved_y]
  []
  [diag_saved_x]
  []
  [diag_saved_y]
  []
  [von_mises]
    order = CONSTANT
    family = MONOMIAL
  []
[]

[Functions]
  [disp_ramp_vert]
    type = PiecewiseLinear
    x = '0. 2. 8.'
    y = '0. -1.0 -1.0'
  []
  [disp_ramp_horz]
    type = PiecewiseLinear
    x = '0. 8.'
    y = '0. 8.'
  []
[]

[Kernels]
  [TensorMechanics]
    use_displaced_mesh = true
    save_in = 'saved_x saved_y'
    block = '1 2'
    strain = FINITE
  []
[]

[AuxKernels]
  [penalty_normal_pressure_auxk]
    type = PenaltyMortarUserObjectAux
    variable = penalty_normal_pressure
    user_object = friction_uo
    contact_quantity = normal_pressure
  []
  [penalty_frictional_pressure_auxk]
    type = PenaltyMortarUserObjectAux
    variable = penalty_frictional_pressure
    user_object = friction_uo
    contact_quantity = tangential_pressure_one
  []
  [penalty_accumulated_slip_auxk]
    type = PenaltyMortarUserObjectAux
    variable = accumulated_slip_one
    user_object = friction_uo
    contact_quantity = accumulated_slip_one
  []
  [penalty_tangential_vel_auxk]
    type = PenaltyMortarUserObjectAux
    variable = tangential_vel_one
    user_object = friction_uo
    contact_quantity = tangential_velocity_one
  []
  [real_weighted_gap_auxk]
    type = PenaltyMortarUserObjectAux
    variable = real_weighted_gap
    user_object = friction_uo
    contact_quantity = normal_gap
  []
  [stress_xx]
    type = RankTwoAux
    rank_two_tensor = stress
    variable = stress_xx
    index_i = 0
    index_j = 0
    execute_on = timestep_end
    block = '1 2'
  []
  [stress_yy]
    type = RankTwoAux
    rank_two_tensor = stress
    variable = stress_yy
    index_i = 1
    index_j = 1
    execute_on = timestep_end
    block = '1 2'
  []
  [stress_xy]
    type = RankTwoAux
    rank_two_tensor = stress
    variable = stress_xy
    index_i = 0
    index_j = 1
    execute_on = timestep_end
    block = '1 2'
  []
  [von_mises_kernel]
    #Calculates the von mises stress and assigns it to von_mises
    type = RankTwoScalarAux
    variable = von_mises
    rank_two_tensor = stress
    execute_on = timestep_end
    scalar_type = VonMisesStress
    block = '1 2'
  []
[]

# [VectorPostprocessors]
#   [penalty_normal_pressure]
#     type = NodalValueSampler
#     variable = penalty_normal_pressure
#     boundary = 10
#     sort_by = id
#   []
# []

[Postprocessors]
  [num_nl]
    type = NumNonlinearIterations
  []
  [cumulative]
    type = CumulativeValuePostprocessor
    postprocessor = num_nl
  []
  [force_x]
    type = NodalSum
    boundary = 30
    variable = saved_x
  []
  [force_y]
    type = NodalSum
    boundary = 30
    variable = saved_y
  []
  [gap]
    type = SideExtremeValue
    value_type = min
    variable = real_weighted_gap
    boundary = 10
  []
  [num_al]
    type = NumAugmentedLagrangeIterations
  []
[]

[BCs]
  [bot_x_disp]
    type = DirichletBC
    variable = disp_x
    boundary = '40'
    value = 0.0
    preset = false
  []
  [bot_y_disp]
    type = DirichletBC
    variable = disp_y
    boundary = '40'
    value = 0.0
    preset = false
  []
  [top_y_disp]
    type = FunctionDirichletBC
    variable = disp_y
    boundary = '30'
    function = disp_ramp_vert
    preset = false
  []
  [top_x_disp]
    type = FunctionDirichletBC
    variable = disp_x
    boundary = '30'
    function = disp_ramp_horz
    preset = false
  []
[]

[Materials]
  [stuff1_elas_tens]
    type = ComputeIsotropicElasticityTensor
    block = '2'
    youngs_modulus = 6896
    poissons_ratio = 0.32
  []
  [stuff1_strain]
    type = ComputeFiniteStrain
    block = '2'
  []
  [stuff1_stress]
    type = ComputeFiniteStrainElasticStress
    block = '2'
  []
  [stuff2_elas_tens]
    type = ComputeIsotropicElasticityTensor
    block = '1'
    youngs_modulus = 689.6
    poissons_ratio = 0.32
  []
  [stuff2_strain]
    type = ComputeFiniteStrain
    block = '1'
  []
  [stuff2_stress]
    type = ComputeFiniteStrainElasticStress
    block = '1'
  []
[]

[Executioner]
  type = Transient
  solve_type = 'PJFNK'

  petsc_options = '-snes_ksp_ew'
  petsc_options_iname = '-pc_type -pc_factor_mat_solver_type'
  petsc_options_value = 'lu     superlu_dist'
  line_search = 'none'

  nl_abs_tol = 1e-7
  nl_rel_tol = 1e-7
  l_tol = 1e-6

  l_max_its = 7
  nl_max_its = 300

  start_time = 0.0
  end_time = 6.5 # 6.5

  dt = 0.0125
  dtmin = 1e-5
  [Predictor]
    type = SimplePredictor
    scale = 1.0
  []
[]

[Preconditioning]
  [SMP]
    type = SMP
    full = true
  []
[]

[Outputs]
  print_linear_residuals = true
  perf_graph = true
  exodus = true
  csv = true
  # [chkfile]
  #   type = CSV
  #   start_time = 0.0
  #   execute_vector_postprocessors_on = FINAL
  # []

  [console]
    type = Console
    max_rows = 5
  []
[]

[Debug]
  show_var_residual_norms = true
[]

[Problem]
  type = AugmentedLagrangianContactFEProblem
[]

[UserObjects]
  [friction_uo]
    type = PenaltyFrictionUserObject
    primary_boundary = 20
    secondary_boundary = 10
    primary_subdomain = 10000
    secondary_subdomain = 10001
    disp_x = disp_x
    disp_y = disp_y
    friction_coefficient = 0.4 # with 2.0 works
    secondary_variable = disp_x
    penalty = 5e5
    penalty_friction = 1e4
    slip_tolerance = 1e-05
    penetration_tolerance = 1e-03
  []
[]

[Constraints]
  [x]
    type = NormalMortarMechanicalContact
    primary_boundary = 20
    secondary_boundary = 10
    primary_subdomain = 10000
    secondary_subdomain = 10001
    secondary_variable = disp_x
    component = x
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_gap_uo = friction_uo
  []
  [y]
    type = NormalMortarMechanicalContact
    primary_boundary = 20
    secondary_boundary = 10
    primary_subdomain = 10000
    secondary_subdomain = 10001
    secondary_variable = disp_y
    component = y
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_gap_uo = friction_uo
  []
  [t_x]
    type = TangentialMortarMechanicalContact
    primary_boundary = 20
    secondary_boundary = 10
    primary_subdomain = 10000
    secondary_subdomain = 10001
    secondary_variable = disp_x
    component = x
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_velocities_uo = friction_uo
  []
  [t_y]
    type = TangentialMortarMechanicalContact
    primary_boundary = 20
    secondary_boundary = 10
    primary_subdomain = 10000
    secondary_subdomain = 10001
    secondary_variable = disp_y
    component = y
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_velocities_uo = friction_uo
  []
[]

(modules/contact/test/tests/pdass_problems/cylinder_friction_penalty_frictional_al_tight_slip.i)

[GlobalParams]
  volumetric_locking_correction = true
  displacements = 'disp_x disp_y'
[]

[Mesh]
  [input_file]
    type = FileMeshGenerator
    file = hertz_cyl_finer.e
  []
  [secondary]
    type = LowerDBlockFromSidesetGenerator
    new_block_id = 10001
    new_block_name = 'secondary_lower'
    sidesets = '3'
    input = input_file
  []
  [primary]
    type = LowerDBlockFromSidesetGenerator
    new_block_id = 10000
    sidesets = '2'
    new_block_name = 'primary_lower'
    input = secondary
  []
  allow_renumbering = false
[]

[Problem]
  type = AugmentedLagrangianContactFEProblem
  extra_tag_vectors = 'ref'
  maximum_lagrangian_update_iterations = 1000
[]

[AuxVariables]
  [penalty_normal_pressure]
  []
  [penalty_frictional_pressure]
  []
  [accumulated_slip_one]
  []
  [tangential_vel_one]
  []
  [normal_gap]
  []
  [normal_lm]
  []
  [saved_x]
  []
  [saved_y]
  []
  [active]
  []
  [dual_var]
    use_dual = true
    block = '10001'
  []
[]

[Functions]
  [disp_ramp_vert]
    type = PiecewiseLinear
    x = '0. 1. 3.5'
    y = '0. -0.020 -0.020'
  []
  [disp_ramp_horz]
    type = PiecewiseLinear
    x = '0. 1. 3.5'
    y = '0. 0.0 0.015'
  []
[]

[Physics/SolidMechanics/QuasiStatic/all]
  strain = FINITE
  add_variables = true
  save_in = 'saved_x saved_y'
  extra_vector_tags = 'ref'
  block = '1 2 3 4 5 6 7'
  generate_output = 'stress_xx stress_yy stress_xy'
[]

[AuxKernels]
  [penalty_normal_pressure]
    type = PenaltyMortarUserObjectAux
    variable = penalty_normal_pressure
    user_object = friction_uo
    contact_quantity = normal_pressure
    boundary = 3
  []
  [penalty_frictional_pressure]
    type = PenaltyMortarUserObjectAux
    variable = penalty_frictional_pressure
    user_object = friction_uo
    contact_quantity = tangential_pressure_one
    boundary = 3
  []
  [penalty_tangential_vel_one]
    type = PenaltyMortarUserObjectAux
    variable = tangential_vel_one
    user_object = friction_uo
    contact_quantity = tangential_velocity_one
    boundary = 3
  []
  [penalty_accumulated_slip_one]
    type = PenaltyMortarUserObjectAux
    variable = accumulated_slip_one
    user_object = friction_uo
    contact_quantity = accumulated_slip_one
    boundary = 3
  []
  [normal_lm]
    type = PenaltyMortarUserObjectAux
    variable = normal_lm
    user_object = friction_uo
    contact_quantity = normal_lm
    boundary = 3
  []
  [normal_gap]
    type = PenaltyMortarUserObjectAux
    variable = normal_gap
    user_object = friction_uo
    contact_quantity = normal_gap
    boundary = 3
  []
[]

[Postprocessors]
  [bot_react_x]
    type = NodalSum
    variable = saved_x
    boundary = 1
  []
  [bot_react_y]
    type = NodalSum
    variable = saved_y
    boundary = 1
  []
  [top_react_x]
    type = NodalSum
    variable = saved_x
    boundary = 4
  []
  [top_react_y]
    type = NodalSum
    variable = saved_y
    boundary = 4
  []
  [_dt]
    type = TimestepSize
  []
  [num_lin_it]
    type = NumLinearIterations
  []
  [num_nonlin_it]
    type = NumNonlinearIterations
  []
  [cumulative]
    type = CumulativeValuePostprocessor
    postprocessor = num_nonlin_it
  []
  [gap]
    type = SideExtremeValue
    value_type = min
    variable = normal_gap
    boundary = 3
  []
  [num_al]
    type = NumAugmentedLagrangeIterations
  []
  [active_set_size]
    type = NodalSum
    variable = active
  []
[]

[BCs]
  [side_x]
    type = DirichletBC
    variable = disp_y
    boundary = '1 2'
    value = 0.0
  []
  [bot_y]
    type = DirichletBC
    variable = disp_x
    boundary = '1 2'
    value = 0.0
  []
  [top_y_disp]
    type = FunctionDirichletBC
    variable = disp_y
    boundary = 4
    function = disp_ramp_vert
  []
  [top_x_disp]
    type = FunctionDirichletBC
    variable = disp_x
    boundary = 4
    function = disp_ramp_horz
  []
[]

[Materials]
  [stuff1_elas_tens]
    type = ComputeIsotropicElasticityTensor
    block = '1'
    youngs_modulus = 1e10
    poissons_ratio = 0.0
  []
  [stuff1_stress]
    type = ComputeFiniteStrainElasticStress
    block = '1'
  []
  [stuff2_elas_tens]
    type = ComputeIsotropicElasticityTensor
    block = '2 3 4 5 6 7'
    youngs_modulus = 1e6
    poissons_ratio = 0.3
  []
  [stuff2_stress]
    type = ComputeFiniteStrainElasticStress
    block = '2 3 4 5 6 7'
  []
[]

[Executioner]
  type = Transient
  solve_type = 'NEWTON'

  petsc_options = '-snes_ksp_ew'
  petsc_options_iname = -pc_type
  petsc_options_value = lu
  line_search = 'basic'

  nl_abs_tol = 1e-13
  nl_rel_tol = 1e-11
  nl_max_its = 75
  l_tol = 1e-05
  l_abs_tol = 1e-13

  start_time = 0.0
  end_time = 0.1 # 3.5
  dt = 0.1
  dtmin = 0.1

  [Predictor]
    type = SimplePredictor
    scale = 1.0
  []

  automatic_scaling = true
  compute_scaling_once = false
  off_diagonals_in_auto_scaling = true
[]

[Preconditioning]
  [SMP]
    type = SMP
    full = true
  []
[]

[VectorPostprocessors]
  [surface]
    type = NodalValueSampler
    use_displaced_mesh = false
    variable = 'disp_x disp_y normal_gap'
    boundary = '3'
    sort_by = id
  []
[]

[Outputs]
  print_linear_residuals = true
  perf_graph = true
  exodus = true
  csv = false
  [vectorpp_output]
    type = CSV
    create_final_symlink = true
    execute_on = 'INITIAL TIMESTEP_END FINAL'
  []
[]

[UserObjects]
  [friction_uo]
    type = PenaltyFrictionUserObject
    primary_boundary = '2'
    secondary_boundary = '3'
    primary_subdomain = '10000'
    secondary_subdomain = '10001'
    disp_x = disp_x
    disp_y = disp_y
    penalty = 1e5
    secondary_variable = disp_x
    friction_coefficient = 0.4
    penetration_tolerance = 1e-7
    slip_tolerance = 1e-8
    penalty_friction = 1e6
    penalty_multiplier = 10
    use_physical_gap = true
    aux_lm = dual_var
  []
[]

[Constraints]
  [x]
    type = NormalMortarMechanicalContact
    primary_boundary = '2'
    secondary_boundary = '3'
    primary_subdomain = '10000'
    secondary_subdomain = '10001'
    secondary_variable = disp_x
    component = x
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_gap_uo = friction_uo
  []
  [y]
    type = NormalMortarMechanicalContact
    primary_boundary = '2'
    secondary_boundary = '3'
    primary_subdomain = '10000'
    secondary_subdomain = '10001'
    secondary_variable = disp_y
    component = y
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_gap_uo = friction_uo
  []
  [tangential_x]
    type = TangentialMortarMechanicalContact
    primary_boundary = 2
    secondary_boundary = 3
    primary_subdomain = 10000
    secondary_subdomain = 10001
    secondary_variable = disp_x
    component = x
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_velocities_uo = friction_uo
  []
  [tangential_y]
    type = TangentialMortarMechanicalContact
    primary_boundary = 2
    secondary_boundary = 3
    primary_subdomain = 10000
    secondary_subdomain = 10001
    secondary_variable = disp_y
    component = y
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_velocities_uo = friction_uo
  []
[]

(modules/contact/test/tests/pdass_problems/cylinder_friction_penalty_adaptivity.i)

[GlobalParams]
  volumetric_locking_correction = true
  displacements = 'disp_x disp_y'
[]

[Mesh]
  [input_file]
    type = FileMeshGenerator
    file = hertz_cyl_coarser.e
  []
  [secondary]
    type = LowerDBlockFromSidesetGenerator
    new_block_id = 10001
    new_block_name = 'secondary_lower'
    sidesets = '3'
    input = input_file
  []
  [primary]
    type = LowerDBlockFromSidesetGenerator
    new_block_id = 10000
    sidesets = '2'
    new_block_name = 'primary_lower'
    input = secondary
  []
  allow_renumbering = false
[]

[Problem]
  type = ReferenceResidualProblem
  extra_tag_vectors = 'ref'
  reference_vector = 'ref'
[]

[AuxVariables]
  [penalty_normal_pressure]
  []
  [penalty_frictional_pressure]
  []
  [accumulated_slip_one]
  []
  [tangential_vel_one]
  []
  [normal_gap]
  []
  [react_x]
  []
  [react_y]
  []
[]

[Functions]
  [disp_ramp_vert]
    type = PiecewiseLinear
    x = '0. 1. 3.5'
    y = '0. -0.020 -0.020'
  []
  [disp_ramp_horz]
    type = PiecewiseLinear
    x = '0. 1. 3.5'
    y = '0. 0.0 0.015'
  []
[]

[Physics/SolidMechanics/QuasiStatic/all]
  strain = FINITE
  add_variables = true
  extra_vector_tags = 'ref'
  block = '1 2 3 4 5 6 7'
  generate_output = 'stress_xx stress_yy stress_xy'
[]

[AuxKernels]
  [penalty_normal_pressure]
    type = PenaltyMortarUserObjectAux
    variable = penalty_normal_pressure
    user_object = friction_uo
    contact_quantity = normal_pressure
  []
  [penalty_frictional_pressure]
    type = PenaltyMortarUserObjectAux
    variable = penalty_frictional_pressure
    user_object = friction_uo
    contact_quantity = tangential_pressure_one
  []
  [penalty_accumulated_slip]
    type = PenaltyMortarUserObjectAux
    variable = accumulated_slip_one
    user_object = friction_uo
    contact_quantity = accumulated_slip_one
  []
  [penalty_tangential_vel]
    type = PenaltyMortarUserObjectAux
    variable = tangential_vel_one
    user_object = friction_uo
    contact_quantity = tangential_velocity_one
  []
  [penalty_gap]
    type = PenaltyMortarUserObjectAux
    variable = normal_gap
    user_object = friction_uo
    contact_quantity = normal_gap
  []
  [react_x]
    type = TagVectorAux
    vector_tag = 'ref'
    v = 'disp_x'
    variable = 'react_x'
  []
  [react_y]
    type = TagVectorAux
    vector_tag = 'ref'
    v = 'disp_y'
    variable = 'react_y'
  []
[]

[Postprocessors]
  [bot_react_x]
    type = NodalSum
    variable = react_x
    boundary = 1
  []
  [bot_react_y]
    type = NodalSum
    variable = react_y
    boundary = 1
  []
  [top_react_x]
    type = NodalSum
    variable = react_x
    boundary = 4
  []
  [top_react_y]
    type = NodalSum
    variable = react_y
    boundary = 4
  []
  [_dt]
    type = TimestepSize
  []
  [num_lin_it]
    type = NumLinearIterations
  []
  [num_nonlin_it]
    type = NumNonlinearIterations
  []
  [cumulative]
    type = CumulativeValuePostprocessor
    postprocessor = num_nonlin_it
  []
  [gap]
    type = SideExtremeValue
    value_type = min
    variable = normal_gap
    boundary = 3
  []
  [num_al]
    type = NumAugmentedLagrangeIterations
  []
[]

[BCs]
  [side_x]
    type = DirichletBC
    variable = disp_y
    boundary = '1 2'
    value = 0.0
  []
  [bot_y]
    type = DirichletBC
    variable = disp_x
    boundary = '1 2'
    value = 0.0
  []
  [top_y_disp]
    type = FunctionDirichletBC
    variable = disp_y
    boundary = 4
    function = disp_ramp_vert
  []
  [top_x_disp]
    type = FunctionDirichletBC
    variable = disp_x
    boundary = 4
    function = disp_ramp_horz
  []
[]

[Materials]
  [stuff1_elas_tens]
    type = ComputeIsotropicElasticityTensor
    block = '1'
    youngs_modulus = 1e10
    poissons_ratio = 0.0
  []
  [stuff1_stress]
    type = ComputeFiniteStrainElasticStress
    block = '1'
  []
  [stuff2_elas_tens]
    type = ComputeIsotropicElasticityTensor
    block = '2 3 4 5 6 7'
    youngs_modulus = 1e6
    poissons_ratio = 0.3
  []
  [stuff2_stress]
    type = ComputeFiniteStrainElasticStress
    block = '2 3 4 5 6 7'
  []
[]

[Executioner]
  type = Transient
  solve_type = 'PJFNK'

  petsc_options = '-snes_ksp_ew'
  petsc_options_iname = '-pc_type -pc_factor_mat_solver_type -pc_factor_shift_type -pc_factor_shift_amount -mat_mffd_err'
  petsc_options_value = 'lu       superlu_dist                  NONZERO               1e-15                   1e-5'

  line_search = 'none'

  nl_abs_tol = 1e-10

  start_time = 0.0
  end_time = 0.3 # 3.5
  l_tol = 1e-4
  dt = 0.1
  dtmin = 0.001
  [Predictor]
    type = SimplePredictor
    scale = 1.0
  []
[]

[Preconditioning]
  [SMP]
    type = SMP
    full = true
  []
[]

[VectorPostprocessors]
  [surface]
    type = NodalValueSampler
    use_displaced_mesh = false
    variable = 'disp_x disp_y penalty_normal_pressure penalty_frictional_pressure normal_gap'
    boundary = '3'
    sort_by = id
  []
[]

[Outputs]
  print_linear_residuals = true
  perf_graph = true
  exodus = true
  csv = false
  [console]
    type = Console
    max_rows = 5
  []
  [vectorpp_output]
    type = CSV
    create_final_symlink = true
    file_base = cylinder_friction_penalty_adaptivity
    execute_on = 'INITIAL TIMESTEP_END FINAL'
  []
[]

[UserObjects]
  [friction_uo]
    type = PenaltyFrictionUserObject
    primary_boundary = '2'
    secondary_boundary = '3'
    primary_subdomain = '10000'
    secondary_subdomain = '10001'
    disp_x = disp_x
    disp_y = disp_y
    friction_coefficient = 0.4
    secondary_variable = disp_x
    penalty = 5e7
    penalty_friction = 5e8
  []
  [geo]
    type = GeometrySphere
    boundary = 3
    center = '0 4 0'
    radius = 3
  []
[]

[Adaptivity]
  [Markers]
    [contact]
      type = BoundaryMarker
      mark = REFINE
      next_to = 3
    []
  []
  initial_marker = contact
  initial_steps = 2
[]

[Constraints]
  [x]
    type = NormalMortarMechanicalContact
    primary_boundary = '2'
    secondary_boundary = '3'
    primary_subdomain = '10000'
    secondary_subdomain = '10001'
    secondary_variable = disp_x
    component = x
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_gap_uo = friction_uo
  []
  [y]
    type = NormalMortarMechanicalContact
    primary_boundary = '2'
    secondary_boundary = '3'
    primary_subdomain = '10000'
    secondary_subdomain = '10001'
    secondary_variable = disp_y
    component = y
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_gap_uo = friction_uo
  []
  [tangential_x]
    type = TangentialMortarMechanicalContact
    primary_boundary = 2
    secondary_boundary = 3
    primary_subdomain = 10000
    secondary_subdomain = 10001
    secondary_variable = disp_x
    component = x
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_velocities_uo = friction_uo
  []
  [tangential_y]
    type = TangentialMortarMechanicalContact
    primary_boundary = 2
    secondary_boundary = 3
    primary_subdomain = 10000
    secondary_subdomain = 10001
    secondary_variable = disp_y
    component = y
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_velocities_uo = friction_uo
  []
[]

(modules/contact/test/tests/pdass_problems/cylinder_friction_penalty_frictional_al.i)

[GlobalParams]
  volumetric_locking_correction = true
  displacements = 'disp_x disp_y'
[]

[Mesh]
  [input_file]
    type = FileMeshGenerator
    file = hertz_cyl_finer.e
  []
  [secondary]
    type = LowerDBlockFromSidesetGenerator
    new_block_id = 10001
    new_block_name = 'secondary_lower'
    sidesets = '3'
    input = input_file
  []
  [primary]
    type = LowerDBlockFromSidesetGenerator
    new_block_id = 10000
    sidesets = '2'
    new_block_name = 'primary_lower'
    input = secondary
  []
  allow_renumbering = false
[]

[Problem]
  type = AugmentedLagrangianContactFEProblem
  extra_tag_vectors = 'ref'
[]

[AuxVariables]
  [penalty_normal_pressure]
  []
  [penalty_frictional_pressure]
  []
  [accumulated_slip_one]
  []
  [tangential_vel_one]
  []
  [normal_gap]
  []
  [normal_lm]
  []
  [saved_x]
  []
  [saved_y]
  []
  [active]
  []
  [dual_var]
    use_dual = true
    block = '10001'
  []
[]

[Functions]
  [disp_ramp_vert]
    type = PiecewiseLinear
    x = '0. 1. 3.5'
    y = '0. -0.020 -0.020'
  []
  [disp_ramp_horz]
    type = PiecewiseLinear
    x = '0. 1. 3.5'
    y = '0. 0.0 0.015'
  []
[]

[Physics/SolidMechanics/QuasiStatic/all]
  strain = FINITE
  add_variables = true
  save_in = 'saved_x saved_y'
  extra_vector_tags = 'ref'
  block = '1 2 3 4 5 6 7'
  generate_output = 'stress_xx stress_yy stress_xy'
[]

[AuxKernels]
  [penalty_normal_pressure]
    type = PenaltyMortarUserObjectAux
    variable = penalty_normal_pressure
    user_object = friction_uo
    contact_quantity = normal_pressure
    boundary = 3
  []
  [penalty_frictional_pressure]
    type = PenaltyMortarUserObjectAux
    variable = penalty_frictional_pressure
    user_object = friction_uo
    contact_quantity = tangential_pressure_one
    boundary = 3
  []
  [penalty_tangential_vel_one]
    type = PenaltyMortarUserObjectAux
    variable = tangential_vel_one
    user_object = friction_uo
    contact_quantity = tangential_velocity_one
    boundary = 3
  []
  [penalty_accumulated_slip_one]
    type = PenaltyMortarUserObjectAux
    variable = accumulated_slip_one
    user_object = friction_uo
    contact_quantity = accumulated_slip_one
    boundary = 3
  []
  [normal_lm]
    type = PenaltyMortarUserObjectAux
    variable = normal_lm
    user_object = friction_uo
    contact_quantity = normal_lm
    boundary = 3
  []
  [normal_gap]
    type = PenaltyMortarUserObjectAux
    variable = normal_gap
    user_object = friction_uo
    contact_quantity = normal_gap
    boundary = 3
  []
[]

[Postprocessors]
  [bot_react_x]
    type = NodalSum
    variable = saved_x
    boundary = 1
  []
  [bot_react_y]
    type = NodalSum
    variable = saved_y
    boundary = 1
  []
  [top_react_x]
    type = NodalSum
    variable = saved_x
    boundary = 4
  []
  [top_react_y]
    type = NodalSum
    variable = saved_y
    boundary = 4
  []
  [_dt]
    type = TimestepSize
  []
  [num_lin_it]
    type = NumLinearIterations
  []
  [num_nonlin_it]
    type = NumNonlinearIterations
  []
  [cumulative]
    type = CumulativeValuePostprocessor
    postprocessor = num_nonlin_it
  []
  [gap]
    type = SideExtremeValue
    value_type = min
    variable = normal_gap
    boundary = 3
  []
  [num_al]
    type = NumAugmentedLagrangeIterations
  []
  [active_set_size]
    type = NodalSum
    variable = active
  []
[]

[BCs]
  [side_x]
    type = DirichletBC
    variable = disp_y
    boundary = '1 2'
    value = 0.0
  []
  [bot_y]
    type = DirichletBC
    variable = disp_x
    boundary = '1 2'
    value = 0.0
  []
  [top_y_disp]
    type = FunctionDirichletBC
    variable = disp_y
    boundary = 4
    function = disp_ramp_vert
  []
  [top_x_disp]
    type = FunctionDirichletBC
    variable = disp_x
    boundary = 4
    function = disp_ramp_horz
  []
[]

[Materials]
  [stuff1_elas_tens]
    type = ComputeIsotropicElasticityTensor
    block = '1'
    youngs_modulus = 1e8
    poissons_ratio = 0.0
  []
  [stuff1_stress]
    type = ComputeFiniteStrainElasticStress
    block = '1'
  []
  [stuff2_elas_tens]
    type = ComputeIsotropicElasticityTensor
    block = '2 3 4 5 6 7'
    youngs_modulus = 1e6
    poissons_ratio = 0.3
  []
  [stuff2_stress]
    type = ComputeFiniteStrainElasticStress
    block = '2 3 4 5 6 7'
  []
[]

[Executioner]
  type = Transient
  solve_type = 'NEWTON'

  petsc_options = '-snes_ksp_ew'
  petsc_options_iname = -pc_type
  petsc_options_value = lu
  line_search = 'basic'

  nl_abs_tol = 1e-10
  nl_rel_tol = 1e-8
  nl_max_its = 50
  l_tol = 1e-05
  l_abs_tol = 1e-13

  start_time = 0.0
  end_time = 0.2 # 3.5
  dt = 0.1
  dtmin = 0.1

  [Predictor]
    type = SimplePredictor
    scale = 1.0
  []

  automatic_scaling = true
  compute_scaling_once = false
  off_diagonals_in_auto_scaling = true
[]

[Preconditioning]
  [SMP]
    type = SMP
    full = true
  []
[]

[VectorPostprocessors]
  [surface]
    type = NodalValueSampler
    use_displaced_mesh = false
    variable = 'disp_x disp_y penalty_normal_pressure penalty_frictional_pressure normal_gap'
    boundary = '3'
    sort_by = id
  []
[]

[Outputs]
  print_linear_residuals = true
  perf_graph = true
  exodus = true
  csv = false
  [vectorpp_output]
    type = CSV
    create_final_symlink = true
    execute_on = 'INITIAL TIMESTEP_END FINAL'
  []
[]

[UserObjects]
  [friction_uo]
    type = PenaltyFrictionUserObject
    primary_boundary = '2'
    secondary_boundary = '3'
    primary_subdomain = '10000'
    secondary_subdomain = '10001'
    disp_x = disp_x
    disp_y = disp_y
    penalty = 1e5
    penalty_friction = 1e8
    secondary_variable = disp_x
    friction_coefficient = 0.4
    penetration_tolerance = 1e-7
    # Not solving the frictional problem tightly (below)
    slip_tolerance = 1 # 1e-6
    penalty_multiplier = 100
    penalty_multiplier_friction = 1
    use_physical_gap = true
    aux_lm = dual_var
  []
[]

[Constraints]
  [x]
    type = NormalMortarMechanicalContact
    primary_boundary = '2'
    secondary_boundary = '3'
    primary_subdomain = '10000'
    secondary_subdomain = '10001'
    secondary_variable = disp_x
    component = x
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_gap_uo = friction_uo
  []
  [y]
    type = NormalMortarMechanicalContact
    primary_boundary = '2'
    secondary_boundary = '3'
    primary_subdomain = '10000'
    secondary_subdomain = '10001'
    secondary_variable = disp_y
    component = y
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_gap_uo = friction_uo
  []
  [tangential_x]
    type = TangentialMortarMechanicalContact
    primary_boundary = 2
    secondary_boundary = 3
    primary_subdomain = 10000
    secondary_subdomain = 10001
    secondary_variable = disp_x
    component = x
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_velocities_uo = friction_uo
  []
  [tangential_y]
    type = TangentialMortarMechanicalContact
    primary_boundary = 2
    secondary_boundary = 3
    primary_subdomain = 10000
    secondary_subdomain = 10001
    secondary_variable = disp_y
    component = y
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_velocities_uo = friction_uo
  []
[]

(modules/contact/test/tests/3d-mortar-contact/frictional-mortar-3d-penalty.i)

starting_point = 0.25
offset = 0.00

[GlobalParams]
  displacements = 'disp_x disp_y disp_z'
  volumetric_locking_correction = true
[]

[AuxVariables]
  [penalty_normal_pressure]
    order = FIRST
    family = LAGRANGE
  []
  [penalty_frictional_pressure_one]
    order = FIRST
    family = LAGRANGE
  []
  [accumulated_slip_one]
    order = FIRST
    family = LAGRANGE
  []
  [penalty_frictional_pressure_two]
    order = FIRST
    family = LAGRANGE
  []
  [accumulated_slip_two]
    order = FIRST
    family = LAGRANGE
  []
[]

[AuxKernels]
  [penalty_normal_pressure_auxk]
    type = PenaltyMortarUserObjectAux
    variable = penalty_normal_pressure
    user_object = friction_uo
    contact_quantity = normal_pressure
  []
  [penalty_frictional_pressure_one_auxk]
    type = PenaltyMortarUserObjectAux
    variable = penalty_frictional_pressure_one
    user_object = friction_uo
    contact_quantity = tangential_pressure_one
  []
  [penalty_accumulated_slip_auxk]
    type = PenaltyMortarUserObjectAux
    variable = accumulated_slip_one
    user_object = friction_uo
    contact_quantity = accumulated_slip_one
  []
  [penalty_frictional_pressure_two_auxk]
    type = PenaltyMortarUserObjectAux
    variable = penalty_frictional_pressure_two
    user_object = friction_uo
    contact_quantity = tangential_pressure_two
  []
  [penalty_accumulated_slip_two_auxk]
    type = PenaltyMortarUserObjectAux
    variable = accumulated_slip_two
    user_object = friction_uo
    contact_quantity = accumulated_slip_two
  []
[]

[Mesh]
  [top_block]
    type = GeneratedMeshGenerator
    dim = 3
    nx = 3
    ny = 3
    nz = 3
    xmin = -0.25
    xmax = 0.25
    ymin = -0.25
    ymax = 0.25
    zmin = -0.25
    zmax = 0.25
    elem_type = HEX8
  []
  [rotate_top_block]
    type = TransformGenerator
    input = top_block
    transform = ROTATE
    vector_value = '0 0 0'
  []
  [top_block_sidesets]
    type = RenameBoundaryGenerator
    input = rotate_top_block
    old_boundary = '0 1 2 3 4 5'
    new_boundary = 'top_bottom top_back top_right top_front top_left top_top'
  []
  [top_block_id]
    type = SubdomainIDGenerator
    input = top_block_sidesets
    subdomain_id = 1
  []
  [bottom_block]
    type = GeneratedMeshGenerator
    dim = 3
    nx = 10
    ny = 10
    nz = 2
    xmin = -.5
    xmax = .5
    ymin = -.5
    ymax = .5
    zmin = -.3
    zmax = -.25
    elem_type = HEX8
  []
  [bottom_block_id]
    type = SubdomainIDGenerator
    input = bottom_block
    subdomain_id = 2
  []
  [bottom_block_change_boundary_id]
    type = RenameBoundaryGenerator
    input = bottom_block_id
    old_boundary = '0 1 2 3 4 5'
    new_boundary = '100 101 102 103 104 105'
  []
  [combined]
    type = MeshCollectionGenerator
    inputs = 'top_block_id bottom_block_change_boundary_id'
  []
  [block_rename]
    type = RenameBlockGenerator
    input = combined
    old_block = '1 2'
    new_block = 'top_block bottom_block'
  []
  [bottom_right_sideset]
    type = SideSetsAroundSubdomainGenerator
    input = block_rename
    new_boundary = bottom_right
    block = bottom_block
    normal = '1 0 0'
  []
  [bottom_left_sideset]
    type = SideSetsAroundSubdomainGenerator
    input = bottom_right_sideset
    new_boundary = bottom_left
    block = bottom_block
    normal = '-1 0 0'
  []
  [bottom_top_sideset]
    type = SideSetsAroundSubdomainGenerator
    input = bottom_left_sideset
    new_boundary = bottom_top
    block = bottom_block
    normal = '0 0 1'
  []
  [bottom_bottom_sideset]
    type = SideSetsAroundSubdomainGenerator
    input = bottom_top_sideset
    new_boundary = bottom_bottom
    block = bottom_block
    normal = '0  0 -1'
  []
  [bottom_front_sideset]
    type = SideSetsAroundSubdomainGenerator
    input = bottom_bottom_sideset
    new_boundary = bottom_front
    block = bottom_block
    normal = '0 1 0'
  []
  [bottom_back_sideset]
    type = SideSetsAroundSubdomainGenerator
    input = bottom_front_sideset
    new_boundary = bottom_back
    block = bottom_block
    normal = '0 -1 0'
  []
  [secondary]
    input = bottom_back_sideset
    type = LowerDBlockFromSidesetGenerator
    sidesets = 'top_bottom' # top_back top_left'
    new_block_id = '10001'
    new_block_name = 'secondary_lower'
  []
  [primary]
    input = secondary
    type = LowerDBlockFromSidesetGenerator
    sidesets = 'bottom_top'
    new_block_id = '10000'
    new_block_name = 'primary_lower'
  []
  allow_renumbering = false
[]

[Variables]

[]

[Physics/SolidMechanics/QuasiStatic]
  [all]
    add_variables = true
    strain = FINITE
    block = '1 2'
    use_automatic_differentiation = false
    generate_output = 'stress_xx stress_xy stress_xz stress_yy stress_zz'
  []
[]

[Materials]
  [tensor]
    type = ComputeIsotropicElasticityTensor
    block = '1'
    youngs_modulus = 1.0e5
    poissons_ratio = 0.0
  []
  [stress]
    type = ComputeFiniteStrainElasticStress
    block = '1'
  []

  [tensor_1000]
    type = ComputeIsotropicElasticityTensor
    block = '2'
    youngs_modulus = 1e5
    poissons_ratio = 0.0
  []
  [stress_1000]
    type = ComputeFiniteStrainElasticStress
    block = '2'
  []
[]

# Other object should mix formulations
[UserObjects]
  [friction_uo]
    type = PenaltyFrictionUserObject
    primary_boundary = 'bottom_top'
    secondary_boundary = 'top_bottom'
    primary_subdomain = 'primary_lower'
    secondary_subdomain = 'secondary_lower'
    disp_x = disp_x
    disp_y = disp_y
    disp_z = disp_z
    friction_coefficient = 0.4
    secondary_variable = disp_x
    penalty = 1e8
    penalty_friction = 5e6
  []
[]

[Constraints]
  [normal_x]
    type = NormalMortarMechanicalContact
    primary_boundary = 'bottom_top'
    secondary_boundary = 'top_bottom'
    primary_subdomain = 'primary_lower'
    secondary_subdomain = 'secondary_lower'
    secondary_variable = disp_x
    component = x
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_gap_uo = friction_uo
  []
  [normal_y]
    type = NormalMortarMechanicalContact
    primary_boundary = 'bottom_top'
    secondary_boundary = 'top_bottom'
    primary_subdomain = 'primary_lower'
    secondary_subdomain = 'secondary_lower'
    secondary_variable = disp_y
    component = y
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_gap_uo = friction_uo
  []
  [normal_z]
    type = NormalMortarMechanicalContact
    primary_boundary = 'bottom_top'
    secondary_boundary = 'top_bottom'
    primary_subdomain = 'primary_lower'
    secondary_subdomain = 'secondary_lower'
    secondary_variable = disp_z
    component = z
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_gap_uo = friction_uo
  []
  [tangential_x]
    type = TangentialMortarMechanicalContact
    primary_boundary = 'bottom_top'
    secondary_boundary = 'top_bottom'
    primary_subdomain = 'primary_lower'
    secondary_subdomain = 'secondary_lower'
    secondary_variable = disp_x
    component = x
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_velocities_uo = friction_uo
  []
  [tangential_y]
    type = TangentialMortarMechanicalContact
    primary_boundary = 'bottom_top'
    secondary_boundary = 'top_bottom'
    primary_subdomain = 'primary_lower'
    secondary_subdomain = 'secondary_lower'
    secondary_variable = disp_y
    component = y
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_velocities_uo = friction_uo
  []
  [tangential_z]
    type = TangentialMortarMechanicalContact
    primary_boundary = 'bottom_top'
    secondary_boundary = 'top_bottom'
    primary_subdomain = 'primary_lower'
    secondary_subdomain = 'secondary_lower'
    secondary_variable = disp_z
    component = z
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_velocities_uo = friction_uo
  []
  [tangential_dir_x]
    type = TangentialMortarMechanicalContact
    primary_boundary = 'bottom_top'
    secondary_boundary = 'top_bottom'
    primary_subdomain = 'primary_lower'
    secondary_subdomain = 'secondary_lower'
    secondary_variable = disp_x
    component = x
    direction = direction_2
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_velocities_uo = friction_uo
  []
  [tangential_dir_y]
    type = TangentialMortarMechanicalContact
    primary_boundary = 'bottom_top'
    secondary_boundary = 'top_bottom'
    primary_subdomain = 'primary_lower'
    secondary_subdomain = 'secondary_lower'
    secondary_variable = disp_y
    component = y
    direction = direction_2
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_velocities_uo = friction_uo
  []
  [tangential_dir_z]
    type = TangentialMortarMechanicalContact
    primary_boundary = 'bottom_top'
    secondary_boundary = 'top_bottom'
    primary_subdomain = 'primary_lower'
    secondary_subdomain = 'secondary_lower'
    secondary_variable = disp_z
    component = z
    direction = direction_2
    use_displaced_mesh = true
    compute_lm_residuals = false
    weighted_velocities_uo = friction_uo
  []
[]

[BCs]
  [botx]
    type = DirichletBC
    variable = disp_x
    boundary = 'bottom_left bottom_right bottom_front bottom_back'
    value = 0.0
  []
  [boty]
    type = DirichletBC
    variable = disp_y
    boundary = 'bottom_left bottom_right bottom_front bottom_back'
    value = 0.0
  []
  [botz]
    type = DirichletBC
    variable = disp_z
    boundary = 'bottom_left bottom_right bottom_front bottom_back'
    value = 0.0
  []
  [topx]
    type = DirichletBC
    variable = disp_x
    boundary = 'top_top'
    value = 0.0
  []
  [topy]
    type = DirichletBC
    variable = disp_y
    boundary = 'top_top'
    value = 0.0
  []
  [topz]
    type = FunctionDirichletBC
    variable = disp_z
    boundary = 'top_top'
    function = '-${starting_point} * sin(2 * pi / 40 * t) + ${offset}'
  []
[]

[Executioner]
  type = Transient
  end_time = .025
  dt = .025
  dtmin = .001
  solve_type = 'PJFNK'
  petsc_options = '-snes_converged_reason -ksp_converged_reason -snes_ksp_ew'
  petsc_options_iname = '-pc_type -pc_factor_mat_solver_type'
  petsc_options_value = 'lu       superlu_dist'
  l_max_its = 15
  nl_max_its = 30
  nl_rel_tol = 1e-12
  nl_abs_tol = 1e-13
  line_search = 'basic'
[]

[Debug]
  show_var_residual_norms = true
[]

[Outputs]
  exodus = true
  csv = true
[]

[Preconditioning]
  [smp]
    type = SMP
    full = true
  []
[]

[Postprocessors]
[]

[VectorPostprocessors]
[]

Description
Input Parameters
Input Files
References