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Theory Manual Version 3.6
 Subsection 7.8.3: Penalty Method Up Section 7.8: Tied Fluid Interface Section 7.9: Rigid Connectors 

7.8.4 Discretization

The contact integral may be discretized as The variables may be interpolated over each element face according to Then, where Similarly, where
 Subsection 7.8.3: Penalty Method Up Section 7.8: Tied Fluid Interface Section 7.9: Rigid Connectors