Question #693369 on Yade changed:
https://answers.launchpad.net/yade/+question/693369

De zhang proposed the following answer:
Because the normal force is determined by the intersecting polyhedron between 
two contact objects, you can classify the type of contact according to the 
overall shape and local shape (such as angularity) of that intersecting 
polyhedron.
Good luck!

Dez

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