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October 18, 2024 at 5:11 am
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If contact occurs during the simulation runtime (i.e., at t=0, the left and right bodies are not initially in contact but come into contact due to the application of clamping pressure), you should use a nonlinear contact (either frictional or frictionless).
Based on the new image you recently added, it appears that the right body moves towards the left body due to clamping pressure, leading to contact. This scenario represents a case of nonlinear contact, where frictional or frictionless contact should be applied, as suggested by Mohan in the comment below.