Question #687861 on Yade changed:
https://answers.launchpad.net/yade/+question/687861
Status: Open => Answered
Jérôme Duriez proposed the following answer:
Maybe you can try starting from Raphael's PhD Thesis, § 2.1.3 of
[Maurin2015PhD, *]...
[*] https://yade-dem.org/publi/PhD_MAURIN_VF.pdf
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