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Theory Manual Version 3.6
 Subsection 7.4.3: Penalty Method Up Section 7.4: Multiphasic Contact Section 7.5: Tied Contact 

7.4.4 Discretization

The contact integral may be discretized as The variables may be interpolated over each element face according to Then, where Similarly, where and
 Subsection 7.4.3: Penalty Method Up Section 7.4: Multiphasic Contact Section 7.5: Tied Contact