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I think those are not correct for spheres with different radius... imagine two spheres with opposite angular velocities (same abs values), and different radii; then the angular velocity will contribute to both shear (since radii are different, hence there will be slipping) and to bending as well. How would pure bending look like in such case?Maybe using an equation similar to the total formulation (ScGeom.cpp:94) but with spin instead of rotations? It would give : relativeSpin = angularVelocity2 - angularVelocity1 twistVel = relativeSpin.dot(normal) bendVel = relativeSpin - twistVel and then you multiply by dt.
Alternatively, you could do this at each timestep : ScGeom6D::precomputeRotations() ScGeom6D::initRotations()
It is not related to ScGeom --
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