> But in fact it was just me hacking Yade ;-)
> (https://lists.launchpad.net/yade-users/msg03220.html).

By the way Vaclav, as you are working on this, please have a look at the code 
in the link
above.
Currently, blocking DOFs triger more operations than not blocking.
It is not difficult to make it less operations (as in the link) : it just needs 
to skip
the velocity=velocity+accelaration*dt lines so bodies move at constant velocity.

Bruno

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