You are right, of couse.
But how can I get shift2 in my Law* engine?
No need here.
Why not? As I understand it, if in Sergei's law you want to use
getIncidentVelocity function because you need to compute damping, then
you need to get shift2 first.
I can't remember if we solved this problem : can we getVelocity without
computing it twice (once in geom::update, and once in the contact law)?
I suggested to use shear/dt instead, but perhaps I missed something.
For shift2, I don't see why it wouldn't apply for facets (missed
something (2)?).
B.
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