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Contact - Imapct

Hello,
 
I am trying to build a subroutine to swap out the Hertz contact force model with one of the more complex ones (e.g. Flores et. all). What I don't understand is how the c_impact function returns three force components when the gap and gapdot values are scalar.
 
While there is an online help on the impact function, I had not luck finding the statement of the impact force's components calculation.
 
Thanks,
 
Josef
 
 
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