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[xjin <question403708@xxxxxxxxxxxxxxxxxxxxx>]

Question #403708 on Yade changed:
https://answers.launchpad.net/yade/+question/403708

Description changed to:
I am trying to model a rigid body like this:

O.bodylist=[]
bodylist.append(O.bodies.append(sphere([0,0,0],1)))
for ix in range(0,10):
bodylist.append(O.bodies.append(sphere([0.5+ix,0,0],0.5)))
bodylist.append(O.bodies.append(sphere([-0.5-ix,0,0],0.5)))

for iy in range(0,10):
bodylist.append(O.bodies.append(sphere([0,0.5+iy,0],0.5)))
bodylist.append(O.bodies.append(sphere([0,-0.5-iy,0],0.5)))

bodylist.append(O.bodies.append(sphere([0.75,0.75,1.060660172],0.6)))
bodylist.append(O.bodies.append(sphere([1.25,1.25,1.767766953],0.6)))
bodylist.append(O.bodies.append(sphere([1.75,1.75,2.474873734],0.6)))
bodylist.append(O.bodies.append(sphere([2.25,2.25,3.181980515],0.6)))
bodylist.append(O.bodies.append(sphere([2.75,2.75,3.889087297],0.6)))
bodylist.append(O.bodies.append(sphere([3.25,3.25,4.596194078],0.6)))
bodylist.append(O.bodies.append(sphere([3.75,3.75,5.303300859],0.6)))
bodylist.append(O.bodies.append(sphere([4.25,4.25,6.01040764],0.6)))
bodylist.append(O.bodies.append(sphere([4.75,4.75,6.717514421],0.6)))
bodylist.append(O.bodies.append(sphere([5.25,5.25,7.424621202],0.6)))
bodylist.append(O.bodies.append(sphere([-0.75,-0.75,1.060660172],0.6)))
bodylist.append(O.bodies.append(sphere([-1.25,-1.25,1.767766953],0.6)))
bodylist.append(O.bodies.append(sphere([-1.75,-1.75,2.474873734],0.6)))
bodylist.append(O.bodies.append(sphere([-2.25,-2.25,3.181980515],0.6)))
bodylist.append(O.bodies.append(sphere([-2.75,-2.75,3.889087297],0.6)))
bodylist.append(O.bodies.append(sphere([-3.25,-3.25,4.596194078],0.6)))
bodylist.append(O.bodies.append(sphere([-3.75,-3.75,5.303300859],0.6)))

idclump=O.bodies.clump(bodylist)

I try to make the rigid body rotate on one of its own axis whose rotateaxis=Vector3(1,1,0) .The point whose coordinate equals to (0,0,0) is on the  rotateaxis . I find that RotationEngine or applying  angVel directly both can't realize this situation.Can you give me some suggestion?
Thanks a lot! 
Jin

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