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[xjin <question403752@xxxxxxxxxxxxxxxxxxxxx>]

New question #403752 on Yade:
https://answers.launchpad.net/yade/+question/403752

I model two facets and a sphere, and I hope to make all of them translate in a fixed directiona and at a fixed translation speed. Meanwhile,the facets rotate around the sphere in the process of translation. 
The script is listed below. When I run it,I find that the facets rotate around their centroids respectively. It is not that the facets rotate around the sphere.
Can someone give me any suggestion or the reason?




O.bodies.append(sphere([0,0,0],0.5))
iq=O.bodies[-1]
iq.state.blockedDOFs='XYZxyz'

O.bodies.append(facet([(0,1,0),(1,1,0),(1,2,0)]))
O.bodies.append(facet([(0,1,0),(0,2,0),(1,2,0)]))
for q in O.bodies:
iq.state.blockedDOFs='XYZxyz'

def sss():
for q in O.bodies:
q.state.vel=(0,0,1)

globals()['sss']=locals()['sss']
O.engines=[
   ForceResetter(),
   InsertionSortCollider([Bo1_Sphere_Aabb(),Bo1_Facet_Aabb()]),
   InteractionLoop(
      [Ig2_Sphere_Sphere_L3Geom(),Ig2_Facet_Sphere_L3Geom()],
      [Ip2_FrictMat_FrictMat_FrictPhys()],
      [Law2_L3Geom_FrictPhys_ElPerfPl()]
   ),
PyRunner(iterPeriod=1,command='sss()'),
NewtonIntegrator(gravity=(0,0,0),damping=0.4), 
RotationEngine(ids=[1,2],angularVelocity=1,rotationAxis=(1,0,0),rotateAroundZero=1,zeroPoint=O.bodies[0].state.pos),
]
O.dt=0.005*PWaveTimeStep()




Thanks for any suggestions
 xjin

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