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[Jan Stránský <question700271@xxxxxxxxxxxxxxxxxxxxx>]

Question #700271 on Yade changed:
https://answers.launchpad.net/yade/+question/700271

    Status: Open => Answered

Jan Stránský proposed the following answer:
Hello,

the proper answer depends on your actual use case (providing a MWE [1] would help), i.e. body shapes, no/yes clumps etc.
IMO the easiest approach would be to compute total kinetic energy using predefined function and "easily" subtract linear kinetic energy. Something like:
### (not tested)
tot = utils.kineticEnergy()
lin = sum(0.5*b.state.mass*b.state.vel.squaredNorm() for b in O.bodies) # (!) needs a bit different code for clumps
rot = tot - lin
###

Another approach would be to compute it "manually" according to formula
in [2] as 1/2*∑ωIω^T.

Yet another approach would be to split the code of kineticEnergy to
compute separately linear and rotational kinetic energy.

Or ..........

Cheers
Jan

[1] https://www.yade-dem.org/wiki/Howtoask
[2] https://yade-dem.org/doc/yade.utils.html#yade._utils.kineticEnergy

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