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[Bruno Chareyre <bruno.chareyre@xxxxxxxxxxx>]

The reason is still not clear but I think I located the problem. 
slipToDisplacementTmax is not doing what it should.

Outputing data from inside the if(plasticity) condition of 
Law2_Dem3DofGeom_FrictPhys_Basic, I find this :


trialFs.norm(): 113037 vs. maxFs: 14.9277 Fn: 170.629 ks: 338110 
tanFric: 0.0874861
displacementT() before slip: 0.33432
displacementT() after slip: 0.126106
corrected trialFs: -4.40076 9.24839 10.8599

The force is divided by ~10,000, as it should, but the displacement 
returned by displacementT is only divided by 3.
Actually, trialFs is always orders of magnitude higher than maxFs, even 
after many iterations in a stable packing. It explains why changing 
friction gives higher forces immediatly.

I've been looking into relocateContactPoints, could you explain this. 
What is this equation for? It looks like a weird weighted average :

/Vector3r midPt=(effR1/(effR1+effR2))*(p1+p2); // proportionally to 
radii, so that angle would be the same/

Cheers.

Bruno