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[Chareyre <850864@xxxxxxxxxxxxxxxxxx>]

That's right. You need not only edges but also vertices.
For the contact formulation, I think there is no big problems. I'm sure PFC manual or other papers are giving the equations.
The implementation in Yade is the more tricky part.

FYI, François Kneib should work on a problem very similar in the coming
months. The difference is that the geometry of the surface will
modelized by thick facets, cylinders for the edges and spheres for the
vertices (minkowsky-type geometry). It only changes the contact
formulation. The connectivity and other things are strictly the same.

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https://bugs.launchpad.net/bugs/850864

Title:
  strange facet-sphere behaviour

Status in Yet Another Dynamic Engine:
  Confirmed

Bug description:
  See https://answers.launchpad.net/yade/+question/171223

  Spheres that are exactly on an edge between facets behave strangely.
  Maybe related to other (closed, but never solved) bugs in sphere-
  facet.

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