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{no_history}: k_t, tangential_damping, friction coefficient

{mindlin}: k_t, tangential_damping, friction coefficient

For {no_history}, the tangential force is computed according to 

For {no_history}, the tangential force is computed according to:

:c,image{Eqs/tangential_nohistory.jpg}

For {mindlin}, tangential force is:

:c,image{Eqs/tangential_mindlin.jpg}

The total force on a particle is the sum of the normal and tangential forces from all interactions. The tangential

force also induces a torque on both particles in a contacting pair. Additionally, rolling and twisting friction