public void doControl() {
contactModel.doContact();
}
public void addContactable(Contactable contactable) {
contactModel.addContactable(contactable);
}
public void initialize() {
contactModel.setKContact(200.0);
contactModel.setBContact(10.0);
contactModel.setFrictionCoefficients(0.5, 0.3);
}
public void addContactPoint(ExternalForcePoint contactPoint) {
contactModel.addContactPoint(contactPoint);
}