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[Chareyre <bruno.chareyre@xxxxxxxxxxxxxxx>]

Ok. Looking at the secondary points :

>Still there might be an issue with vel=disp/dt, as dt might change
during the timestep.

Good point, I never realized that. Is it still relevant?
Delaying dt has almost the same effect than forcing the time-stepper engine to be in first or last position in the loop, but delaying dt transparently is more user-friendly and foolproof.
However, if this is implemented, there should still be away to force immediate dt change, for those who know what they do. It can be used in more sophisticated integration algorithms, predictor-corrector and alike. If not, we would be a bit hardlocking Yade with 2nd order finite differences.

-- 
Body::isDynamic semantics is not clearly defined
https://bugs.launchpad.net/bugs/398089
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Status in Yet Another Dynamic Engine: Confirmed

Bug description:
Does isDynamic means that Newton's laws skip the body? Or that forces don't contribute to its velocity? Various Translation/RotationEngines rely by convention on that Newton's laws skip the body completely.

There was a discussion on that topic http://thread.gmane.org/gmane.science.physics.yade.devel/1059 and we should draw conclusions now.