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[Jan Stránský <question706187@xxxxxxxxxxxxxxxxxxxxx>]

Question #706187 on Yade changed:
https://answers.launchpad.net/yade/+question/706187

    Status: Open => Answered

Jan Stránský proposed the following answer:
Hello,

> 1- Does the torqueEngine allow for the allocation and update of the
mass center of the body during its rolling as it is possible for
combinedKinematicsEngine and rotationEngine?

No.
TorqueEngine is just equivalent to O.forces.addT(...)
[1]

> 2-How to apply variable force and torque to a body in YADE?

PyRunner + O.forces.setPermF [2] and/or O.forces.setPermT [3]

> 3- Is there any available servoController for force and torque to
adjust the linear and angular velocity?

IMO no.
But according to ServoPIDController [4], it should not be difficult to implement.
Even just in python, i.e. RotationEngine + PyRunner and proper adjustment of angular velocity.

Cheers
Jan

[1] https://gitlab.com/yade-dev/trunk/-/blob/master/pkg/common/TorqueEngine.hpp#L23
[2] https://yade-dem.org/doc/yade.wrapper.html#yade.wrapper.ForceContainer.setPermF
[3] https://yade-dem.org/doc/yade.wrapper.html#yade.wrapper.ForceContainer.setPermT
[4] https://gitlab.com/yade-dev/trunk/-/blob/master/pkg/common/KinematicEngines.cpp#L175

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