Maybe using an equation similar to the total formulation (ScGeom.cpp:94) but
with spin
instead of rotations?
It would give :
relativeSpin = angularVelocity2 - angularVelocity1
twistVel = relativeSpin.dot(normal)
bendVel = relativeSpin - twistVel
and then you multiply by dt.
I think those are not correct for spheres with different radius...
imagine two spheres with opposite angular velocities (same abs values),
and different radii; then the angular velocity will contribute to both
shear (since radii are different, hence there will be slipping) and to
bending as well. How would pure bending look like in such case?
Alternatively, you could do this at each timestep :
ScGeom6D::precomputeRotations()
ScGeom6D::initRotations()
It is not related to ScGeom --
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