Improve some modal feature

[WangHu1996]

This PR introduces several modifications and improvements to the modal analysis.

1.Internal force accuracy：

• Added a new method to update internal node state for ChModalAssembly, named UpdateInternalStateWithStaticEquilibrium(too long... but I haven't thought of a shorter suitable function name yet), it solves the deformation of internal nodes by static equilibrium using m_solver_invKIIc. It works like a static correction, but doesn't change modal matrix. This function needs to be called manually now, only before retrieving internal loads. If this method proves stable for a time, Chrono's maintainers may consider merging it to UpdateInternalState.

• Added a function for euler and timoshenko beam. These functions ensure that the beam's reference rotation follows the modal rotation, and are critical for accurate beam internal force results, especially for axial force of elements near boundary nodes. The core reason is that the current modal assembly is completely linear, and its deformation results are based on the undeformed system matrix, whereas the co-rotational coordinate system of the beam is nonlinear. Therefore, it is necessary to restore the co-rotational coordinate system to the undeformed state that follows the modal. Currently, these functions need to be called manually, which is not an ideal design, but at least does not affect other code, welcome any suggestions from the maintainers.

2.Numerical convergence

• Added a new floating frame update method. In my test, the default FFR method did not perform well, leading to non-convergent Newton-Raphson iterations. For 10min simulation of 1000 cases, approximately half of the cases failed to converge. The new method makes the FFR follow the movement of its attached frame, similar to the corotational formulation of beams. This method has been mentioned in many papers. Although it does not have a direct theoretical unique solution, it demonstrates good numerical convergence.

3.New modal demo about internal force

• Added a new demo to demonstrating the internal force extraction method and its accuracy. The model represents a support structure, and gravity load is applied to all components, and an external load is applied to the top node. The calculation results show that the difference between the new internal force extraction method and the co-rotation method is less than 2%.

4.other issues

• Corrected function names in parsers' CMakeLists.txt to lowercase

Welcome and appreciate any feedback. Best regards,