[petsc-dev] Semismooth Newton

[Jed Brown]

I think we should:

1. change SNESVI to support general complementarity constraints because
only doing box constraints on state variables is lame

2. have a mode to solve the system in the full space, instead of
eliminating the semi-smooth variables (which produces the bad conditioning)

3. eventually allow the dimension of the constraint space to change on each
SNES iteration (would be fantastic for implicit contact)
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