function[Data]=updateRHS(Mesh, Data)

% updateRHS: Updates the right-hand side vector for the next iteration of
% the contact algorithm
% INPUT:
% Mesh:     Structure containing all the mesh parameters
% Data:     Structure containing all the data parameters
% OUTPUT:
% Data:     Updated data structure

% Retrive mesh parameters
% Coordinate matrix
coord=Mesh.coord_mat;

% Retrieve data parameters
% Number of free degrees of freedom
nf=Data.nf;
% Number of constraints
nc=length(Data.body{1}.interface_dof);
% Retrieve nodes making up the interfaces
nodes1=Data.body{1}.interface_nodes;
nodes2=Data.body{2}.interface_nodes;
% Retrieve coordinates of nodes making up the interfaces
coord1=coord(nodes1,:);
coord2=coord(nodes2,:);

Diff=multiplyR12(Data, coord2)-coord1;

% Initialization
b=zeros(nf+nc,1);
b(1:nf)=Data.bc;
b(nf+1:nf+nc)=reshape(Diff', [], 1);

% Update data structure
Data.b=b;
Data.nc=nc;
end