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Commit dc2e3371 authored by andreadelprete's avatar andreadelprete
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Assume all contacts have same friction coefficient (change signature of... 

Assume all contacts have same friction coefficient (change signature of setNewContacts method). Convert b0 (the minimum contact force generator coefficient) to e_max (the norm of the minimum force error that results in a violation of the friction cones).
parent 7515df44
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