A quick implementation of new isDynamic semantic here : 
https://lists.launchpad.net/yade-users/msg03220.html
The good point in this exemple is non-dynamic bodies need less operations than 
dynamic ones (it doesn't integrate acceleration, the opposite of blockedDOFs 
which change acceleration, then integrate it).

-- 
Body::isDynamic semantics is not clearly defined
https://bugs.launchpad.net/bugs/398089
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Status in Yet Another Dynamic Engine: Confirmed

Bug description:
Does isDynamic means that Newton's laws skip the body? Or that forces don't 
contribute to its velocity? Various Translation/RotationEngines rely by 
convention on that Newton's laws skip the body completely.

There was a discussion on that topic 
http://thread.gmane.org/gmane.science.physics.yade.devel/1059 and we should 
draw conclusions now.



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