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[sega <dorofeenko@xxxxxxxxx>]

Hello.
What do doing the code on line 79-83 in ElasticContactLaw::action :

axis =currentContactPhysics->prevNormal.Cross(currentContactGeometry->normal);
shearForce -= shearForce.Cross(axis);
angle = 
dt*0.5*currentContactGeometry->normal.Dot(de1->angularVelocity+de2->angularVelocity);
axis = angle*currentContactGeometry->normal;
shearForce -= shearForce.Cross(axis);

Thanks.

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