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You are right, of couse. But how can I get shift2 in my Law* engine? No need here.Why not? As I understand it, if in Sergei's law you want to use getIncidentVelocity function because you need to compute damping, then you need to get shift2 first.
I can't remember if we solved this problem : can we getVelocity without computing it twice (once in geom::update, and once in the contact law)?
I suggested to use shear/dt instead, but perhaps I missed something.For shift2, I don't see why it wouldn't apply for facets (missed something (2)?).
B.
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