[ODE] How ODE handle friction force and contact velocity?

[Ke]

Hi All,
I have a general question about how ODE handle contact
friction force and contact velocity? What kind of
friction-velocity model ODE uses?
It loooks to me that  "dContactSlip1 = k" will define 
v(contact vel) = k*f(friction),such relationship. 
The explaination of "dContactSlip1 = k" on manual was
not clear to me. So would someone here help me out?
Thanks a lot.

Sincerely,
Ke


 
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