A sheet is contacted with torus-outer geometry. The sheet is divided into several rectangular patches and the torus is dealt with analytic equation for the outer region of torus. The edge or vertex of a rectangular patch of the sheet is contacted with the torus geometry. If the sheet is contacted with torus, the contact normal and friction forces are generated at the contact points as shown in Figure 1. The output force is the Base force which is acting on Base body Center Marker. The magnitude of contact force is equal with summation of forces of nodes on sheet.
Figure 1 Example of a sheet to torus contact