Question #683708 on Yade changed:
https://answers.launchpad.net/yade/+question/683708

Jan Stránský posted a new comment:
> I think assuming that V is proportional to u^3 using a fixed estimation can 
> be risky, since it depends highly on the geometry of the overlap region. :p
> the function F(u) is actually unknown.

this is what I meant :-)

> two opposite points of the overlap volume, along the normal direction,
passing from the contact point, and calculate the
equivalentPenetrationDepth as the distance of these points.

then it would be needed to distinguish equivalentPenetrationDepth and
this "estimatedPEnetrationDepth"

cheers
Jan

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