“…For the determination of the contact interface γ c in the current configuration, the distance function d(x e , x g ) is introduced as d(x e , x g ) := x e − x g (ξ, η) , (8) which describes the distance between a fixed point x e of the elastic body on γ c and an arbitrary point x g (ξ, η) on the ground surface. Among all arbitrary points, denote xg = x g ( ξ, η) that minimises d as the projection of x e , the determination of which usually entails the Closest Point Projection (CPP) method [34,35]. In this method, the solution can be found by solving the following equations…”