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Re: [Question #702938]: About the code of sphere 3D ratation in yade

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From: Jan Stránský <question702938@xxxxxxxxxxxxxxxxxxxxx>
Date: Fri, 26 Aug 2022 08:56:01 -0000
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Question #702938 on Yade changed:
https://answers.launchpad.net/yade/+question/702938

    Status: Open => Answered

Jan Stránský proposed the following answer:
Hello,

please be more specific.

> I want to call the pose shapes of the particles and their 3D rotations
at each time step.

what does this, specifically "call pose shapes" exactly mean?

> But I didn't find code that handles 3D rotation of spherical
particles.

what does "handle 3D rotation" mean?

The orientation / 3D rotation of particle is in python its b.state.ori,
so the corresponding C++ code is inside core/State.hpp

It's main "usage" is probably in NewtonIntegrator, so ha a look there, pkg/dem/NewtonIntegrator.*
See also explanation in documentation [1]

b.state.ori is a quaternion [2].

Cheers
Jan

[1] https://yade-dem.org/doc/formulation.html#motion-integration , section Orientation
[2] https://en.wikipedia.org/wiki/Quaternion

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