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I fixed a bug in Law2_L3Geom_FrictPhys_LinPerfPl today. Can you post the parameters you were running those figures with?Going back to the dynamic case (energy.py) : It can be verified that there is an unbalanced energy evolution independant of friction and damping. To make plastic dissipation 0, it is enough to set frictionAngle close to pi/2. For damping, make it 0. The results are attached. ScGeom and L3 give different paterns.
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