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[lip <question683102@xxxxxxxxxxxxxxxxxxxxx>]

Question #683102 on Yade changed:
https://answers.launchpad.net/yade/+question/683102

    Status: Answered => Open

lip is still having a problem:
dear Jan:
       thanks for your answer. i noticed that  the code below might solve my problem:
       if(b->isAspherical()){
			Matrix3r T(state->ori);
			// the tensorial expression http://en.wikipedia.org/wiki/Moment_of_inertia#Moment_of_inertia_tensor
			// inertia tensor rotation from http://www.kwon3d.com/theory/moi/triten.html
			Matrix3r mI; mI<<state->inertia[0],0,0, 0,state->inertia[1],0, 0,0,state->inertia[2];
			//E+=.5*state->angVel.transpose().dot((T.transpose()*mI*T)*state->angVel);
			E+=.5*angVel.transpose().dot((T*mI*T.transpose())*angVel);
		}

    but i still have a problem, i think the code 'Matrix3r
T(state->ori)' is used to conver quaternionr into a rotating matrix,if
so, how can i achieve that by python? can you give me some advice?

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