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[Bruno Chareyre <bruno.chareyre@xxxxxxxxxxx>]

Is it correct to pass a force to this function "slipToDisplacement" 
(maxFsSq scales with friction)?

ElasticContactLaw.cpp:107

if(trialFs.SquaredLength()>maxFsSq){ 
geom->slipToDisplacementTMax(sqrt(maxFsSq));

B.