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[Jan Stránský <question681292@xxxxxxxxxxxxxxxxxxxxx>]

Question #681292 on Yade changed:
https://answers.launchpad.net/yade/+question/681292

    Status: Open => Answered

Jan Stránský proposed the following answer:
Hello,

there is no paper about Yade implementation. But sure you could find
something about the topic in general.

As the returned type is ScGeom, it computes penetration depth (no
volume).

The principle is (see [1]):
- find the closest point of the polyhedron to the sphere's center
- penetrationDepth = sphere.radius - distance(sphere.center, theClosestPoint) # pseudocode

cheers
Jan

[1] https://gitlab.com/yade-
dev/trunk/blob/master/pkg/dem/Polyhedra_Ig2.cpp#L322

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