Question #225776 on Yade changed:
https://answers.launchpad.net/yade/+question/225776

Bruno Chareyre proposed the following answer:
I don't see why computing at each step is static, nor why the contact laws 
would define only static friction.
The shear force at a sliding contact defines dynamic friction, right? In the 
current contact laws the maximum fs before sliding (static) and the fs during 
sliding (dynamic) are computed with the same angle. It simply means the 
assumption static friction = dynamic friction.
So FrictPhys::friction, is not "static OR dynamic", it is "static AND dynamic".

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