[multibody] Apply surface velocity in discrete contact - #24794
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[multibody] Apply surface velocity in discrete contact#24794SeanCurtis-TRI wants to merge 1 commit into
SeanCurtis-TRI wants to merge 1 commit into
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- DiscreteUpdateManager gets the core bookkeeping that affects all discrete solers. - We then explicitly implement in SAP and deformables.
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+(release notes: none) +a:@sherm1 for feature review, please. |
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Relates #19599
This change is