public static class MechSystem.FrictionInfo
Contains information for a single friction constraint set.
This is associated with one bilateral or unilateral constraint,
and corresponds to a single column block entry in the transposed friction
constraint matrix DT produced by
The constraint set contains either one or two friction directions
(corresponding to a column block size of either 1 or 2).
Returns the maximum friction value based on the most recent
contact force and the coefficient of friction. Contacts forces
are stored in the supplied vector lam, at the location(s) indexed
by contactIdx0 and (possibly) contactIdx1.