Question #683102 on Yade changed:
https://answers.launchpad.net/yade/+question/683102
Status: Answered => Open
lip is still having a problem:
dear Jan:
thanks for your answer. i noticed that the code below might solve my
problem:
if(b->isAspherical()){
Matrix3r T(state->ori);
// the tensorial expression
http://en.wikipedia.org/wiki/Moment_of_inertia#Moment_of_inertia_tensor
// inertia tensor rotation from
http://www.kwon3d.com/theory/moi/triten.html
Matrix3r mI; mI<<state->inertia[0],0,0,
0,state->inertia[1],0, 0,0,state->inertia[2];
//E+=.5*state->angVel.transpose().dot((T.transpose()*mI*T)*state->angVel);
E+=.5*angVel.transpose().dot((T*mI*T.transpose())*angVel);
}
but i still have a problem, i think the code 'Matrix3r
T(state->ori)' is used to conver quaternionr into a rotating matrix,if
so, how can i achieve that by python? can you give me some advice?
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