Jerome,

I am sorry, but how about some more meaningful name instead of
"ContactLaw1"?

Second, for the roll angle and so on: I would be glad if those things
could move to SpheresContactGeometry, like I did it with shear, so that
constitutive laws don't repeat the same code over and over (the same for
twisting). If you can elaborate what angle do you need for your law and
how tom compute it from geometry, I will try to implement that within
the contact geom.

Regards, Vaclav


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