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[Question #681292]: contact detection between polyhedra and sphere


New question #681292 on Yade:

i noticed that that there is a Ig2_Sphere_Polyhedra_ScGeom in yade, i want to know the principle of contact detection between them, such as how to cualculate the penetration deepth or pennetration volume between them? is there any papers i can read to help me understand that?
lookforward for your answer

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