Question #242575 on Yade changed:
https://answers.launchpad.net/yade/+question/242575
Status: Open => Answered
Bruno Chareyre proposed the following answer:
You are displaying current orientation. If you want rotation, it is like in #5.
Set b.state.refOri=b.state.ori before the test.
Then rotation will be refOri.conjugate()*ori.
Or (easier) use b.state.rot() which gives exactly this, but don't forget to
initialize refOri.
Note that this technique will still give zero if the cumulated rotation
reaches 2pi. It is not easy to solve ans probably not very important.
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