[FEM] Add support for elasticity of prisms

[alxbilger]

This PR adds the 2 components PrismCorotationalFEMForceField and PrismLinearSmallStrainFEMForceField making it possible to compute FEM elasticity on prism elements.

Note: the specialized class FiniteElement<Prism> works also with the mass introduced in #6061, but it is not in this PR to make them independent.

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