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[chiara modenese <c.modenese@xxxxxxxxx>]

Hi Bruno,

could you explain me in formula how did you get the plastic dissipation for
the friction component? I see

plasticDissipation +=
(shearDisp+(1/currentContactPhysics->ks)*(shearForce-prevForce)).dot(shearForce)

Is shearDisp the total shear displacement, right? I would compute the
dissipation incrementally, something like

plasticDissipation += [delta_us + (Fs_max_current - Fs_max_prev)/ks] *
Fs_max_current

Is this the same as you did? If not where I am eventually wrong? Sorry if I
ask..

Thanks a lot,
Chiara