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[Václav Šmilauer <eudoxos@xxxxxxxx>]

> 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?

cp1rel, cp2rel hold the "point" position
https://www.yade-dem.org/sphinx/yade.wrapper.html#yade.wrapper.Dem3DofGeom_SphereSphere

ori1/ori2 are copies of current State::ori, updated from Ig2 functors.

The change itself is not done in
Dem3DofGeom_SphereSphere::slipToDisplacementTMax but in
Dem3DofGeom_SphereSphere::setTgPlanePts (which is called from the
former). I hope the code is not the difficult to follow.

HTH, Vaclav