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[Bruno Chareyre <bruno.chareyre@xxxxxxxxxxx>]

> > Is this correct (regarding Dem3DofGeom_SphereSphere):
> > 1. Initial orientations ori1 and ori2, are never modified.
> >     
> They are modified when there is plastic slip -- see below.
>   
I don't see ori1/ori2 modified anywhere in the code, but cp1rel is 
taking care of the reference change, yes?
Mmmh... I'm really lost. How can friction change the force in that case?

B.