Question #678558 on Yade changed:
https://answers.launchpad.net/yade/+question/678558

Bruno Chareyre proposed the following answer:
@Jan
>Also I have a long time this idea in my mind: implement tetrahedrons as 
>efficiently as possible and build generic polyhedron as a clump of these 
>tetrahedrons

Interesting. In a sense it is what PFacets are doing, except that the 
primitives are spheres, cylinders, and triangles.
They define a deformable truss by default but if they are clumped it becomes a 
rigid object. Some efficiency comparisons could be worth it.
Bruno

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