Rename contactFrictionStiffness to contactFrictionGain - #67
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The kf parameter is a velocity-dependent friction gain, not a tangential stiffness. Ordered with the other contact* attrs: contactStiffness, contactDamping, contactFrictionGain, contactAdhesion. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
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I agree with Miles' points on the naming of the parameter. For the parameter as-is (i.e., without changing the friction model of the solvers), contactFrictionGain makes sense to me.
Drop "at high speeds" framing — the Coulomb clamp applies regardless of speed, not above some threshold. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
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Summary
newton:contactFrictionStiffness→newton:frictionGainonNewtonMaterialAPIcontactStiffness,contactDamping,contactAdhesionare grouped, withfrictionGainafterContext
From the WG discussion: the
kfparameter produces a force proportional to velocity (viscous regime), not displacement. Calling it "stiffness" is misleading. Miles proposedfrictionGainwith the definition:🤖 Generated with Claude Code