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[Bruno Chareyre <bruno.chareyre@xxxxxxxxxxx>]

>
> // distance between two contact spheres
> d=((Body::byId(id1,scene)->state->pos) -
> (Body::byId(id2,scene)->state->pos) +
> (scene->cell->hSize*I->cellDist.cast<Real>())).norm();
>
I'm not sure in fact... check sign in other places and see.