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Re: total formulation + modifying friction?

 

> > The change itself is not done in Dem3DofGeom_SphereSphere::setTgPlanePts
> >   
> The "change" is in cp1rel, not ori1. Is it what you expect? I guess yes, 
> I'm checking details, just in case...

Yes, correct. (Change in ori1 would be discarded by Ig2 update in the
next step.)





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