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There are many ways to write the HM relation. You can use normal penetration instead of normal force. In that case, no need to keep the history of Fn : you have it in Un.I am trying to implement the Mindlin's formulation for the stiffnesses. One question: do we maintain the history of the normalForce for each iteration for a specific interaction? Cause I actually need to update the value of the stiffnesses according to the value of the normal force..
Bruno
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