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bbfa235
(Get the code!)
Sway,
your solution looks reasonable, two years ago I remember some scaling attempts as well. But then I moved somewhere else where finally everything worked for me. I am suprised by the position of the error, I have never seen it there. But I still do not understand what exactly the problem is.
Anyway, this scaling might help you also with the high stiffness. As I wrote before, there are several check points that returns no contact if the overlap is extremely small to prevent CGAL error. But for high stiffnesses, it would result in unstable behavior. When you scale the whole problem, you actually decrease also the limits for return and help to restore stable situation.
Thanks for solving it, I do not have much time now to go again deeply into it. I am very happy that someone uses my code, understand it and even improve it. Good luck with your work.
Jan