Question #707278 on Yade changed:
https://answers.launchpad.net/yade/+question/707278

Ruidong LI posted a new comment:
Thanks for your reply, Jan!

> probably it should be opposite, Vector3(x_cyl-x, y_cyl-y, 0) to point inside 
> the cylinder (not outside)?
Currently the membrane is stretched rather then compressed (tested with 
maxVelocity=100,iterPeriod=1)
> That's true. We have to reverse the direction vector.

>And maybe different parameters kP, kI, kD then default 1.0?
> Yes. But the difficulty is that it's hard to determine proper proportional 
> parameters for kP, kI,  and kD.

> I don't know, then the behavior is also strange, the membrane is pulled 
> inward once there is node-sphere interaction...
> Yes. I also encounter this problem. I try to reduce the maximum velocity of 
> servo control but still failed, only delaying the time of membrane 
> destruction.

Actually, the PFacet is demonstrated to be effective in modelling
flexible membranes successfully [1]. The problem is that there are some
critical parameters such as velocity are not mentioned in this paper,
which increases the difficulty for descendants to replicate the work.

[1] https://doi.org/10.1061/(ASCE)GM.1943-5622.000134

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