Kinematic contact doesn't work with variable scaling

[lindsayad]

Rationale

Kinematic contact determines the contact force by looking at the displacement residuals (e.g. the sum of the forces). If these are scaled through the variable scaling parameter, then the computed contact force will be wrong.

Description

This leads to surfaces blowing through each other, e.g. we do not correctly resolve contact:

Moreover, the reported contact pressure is incorrectly scaled as well.

Impact

Folks using a kinematic formulation and variable scaling are getting wrong results.