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Velocities of non dynamic bodies, for contact laws ?

 

Hello everbody. I have a question about the meaning of velocities of 
"non dynamic" bodies. Is it computed even if it is not set by an Engine, 
and if yes how ?
The idea of this question is the case of non dynamic bodies which are 
controlled by deus ex machina Engines, but only through their positions, 
example : the walls of the triaxialTest who are controlled by the 
TriaxialCompressionEngine.
Considering moreover the fact that in the contact laws that's the 
velocities of the bodies which are used to compute the relative 
displacements, how does this (well) work ?
Thanks

Jerome
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