Removal of more DOLFINx_cuas dependencies

[jorgensd]

• Use Contact.assemble_vector/assemble_matrix for one-sided integrals, to separate the code from dolfinx_cuas and the assemblers/kernel_types there.
• Introduce dolfinx_contact::kernel_fn<T>
• Minor changes in kernel input types.
• Explicit capture of data in unbiased_rhs kernel generation.
• Introduce dolfinx_contact::compute_active_entities` in favor of cuas version.
• Rename several cuas varaibles to custom variables in Python demos/tests.
• Add NewtonSolver.setNewtonOptions to set newton_options from dictionary.
• Expose dolfinx_contact::QuadratureRule to the Python-layer.