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[Bruno Chareyre <bruno.chareyre@xxxxxxxxxxx>]

> I re-tried with clumps (of 2 spheres) so that there is rotation. It 
> looks the same, total is zero without friction, but non-zero (this 
> time negative, though) with friction...
So, plastic dissipation (or still something else?) is not correct in 
dynamic situations.
It would be worth checking that plastic dissipation is still correct in 
the current version. If not, something would have break it.

Bruno