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You could write the incremental law in a separate function (like CFLaw::goIncremental()) to make things clear at the beginning. It would be called by regular go() if incremental is activated. Both can be merged in a second step to avoid duplicated code, when everything is validated.You can write the incremental rotations in the Law2 functor first (just like the current rotation of ScGeom6D algorithm used to be in CohesiveFrictionalContactLaw) and use plain ScGeom, later move to ScGeom6D. If you move it it in ScGeom6D, however, it will mean dragging all the quaternions in ScGeom6D uselessly.
If you are inclined towards experimentation, you could have a look at L6Geom.
HTH, v
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