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[Bruno Chareyre <bruno.chareyre@xxxxxxxxxxx>]

> Does somebody know if the specific computation made when 
> avoidGranularRatcheting==true is valid for sphere-box interactions?
It is valid I think, since the motion of the fictious sphere is defined 
based on the motion of the box.
What is the problem with facets exactly?

I just realized that the same assumption is probably made (implicitly) 
in the total formulation for Ut, since we have a total rotation 
multiplied by a unique length, disregarding the variations of the 
distance OC between the initial and final configuration (OC : distance 
between the center of the element and the contact point).

Also note that the "avoidGranularRatcheting" flag has no effect for 
boxes/facets if they do not rotate.

Bruno