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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