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Added Problem class and BoundaryConditions (gravity, body forces, point/surface loads, prescribed displacements/rotations, supports).
Added Solver abstraction in compas_dem.problem.solvers so additional backends can be plugged in alongside CRA, LMGC90, and RBE.
Added LMGC90 solver support (compas_dem.analysis.lmgc90).
Added CRA penalty and RBE solver support (compas_dem.analysis.cra), with results written back to the BlockModel graph in the same schema as LMGC90.
Added compas_dem.interactions.ContactProperties and JointModel / MohrCoulomb for configuring contact behaviour.
Added force visualization in compas_dem.viewer.DEMViewer.add_solution: per-edge contact resultants, per-support reaction resultants, contact polygons, and reaction labels showing force components and magnitude.