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[Bruno Chareyre <bruno.chareyre@xxxxxxxxxxx>]

Hi Sergei,

Are you sure these lines apply for facet-sphere?

> +	const Vector3r c1x = geom.radius1*geom.normal;
> +	const Vector3r c2x = -geom.radius2*geom.normal;
>    

For the facet, couldn't it be something like :

const Vector3r c2x = (geom.contactPoint - de2.pos + shift2) ?


This is what would happen if the shear increment/velocity used in the 
constitutive law were defined using ScGeom::getShear()/getIncidentVel(), 
and if values were precomputed with avoidRatcheting=false.

I see that, currently in Ig2_Facet_Sphere, avoidRatcheting is true (my 
bad), I recommend turning it false :
Ig2_Facet_Sphere_ScGeom.cpp:110 : 
scm->precompute(state1,state2,scene,c,normal,isNew,shift2,*_true_*);

Bruno