Question #691680 on Yade changed:
https://answers.launchpad.net/yade/+question/691680
Status: Open => Answered
Jan Stránský proposed the following answer:
Hello,
> contact normal orientation between a sphere and a wall/facet is
perpendicular to the wall/facet.
For facet this is not true, you can have sphere-edge or sphere-vertex
type of contact and in that case the contact normal differs from the
facet normal [1].
For the wall case, the contact normal is always perpendicular to the
wall [2]
cheers
Jan
[1]
https://gitlab.com/yade-dev/trunk/-/blob/master/pkg/dem/Ig2_Facet_Sphere_ScGeom.cpp#L101
[2]
https://gitlab.com/yade-dev/trunk/-/blob/master/pkg/dem/Ig2_Facet_Sphere_ScGeom.cpp#L211
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