Question #692057 on Yade changed:
https://answers.launchpad.net/yade/+question/692057
Status: Open => Answered
Jan Stránský proposed the following answer:
Hello,
1.
the quaternion is printed in its axis-angle representation. The orientation is
represented as "rotation by the angle around the axis"
2.
Using "utils" particle creation method (e.g. utils.sphere, utils.box, ...),
which I suppose, state.refOri is set as the initial value of state.ori
refOri does not change "automatically", but you can change it "manually"
if you like.
3.
see the source code [1]. it is angle equivalent of state.displ() [2], i.e.
rotation "between" state.refOri and state.ori.
The vector i axis*angle
However, there is a problem for "large rotations", e.g. rolling of particles.
Have a look at similar discussion [3] (from comment #14 on) if this your case
4.
yes. This is actually what state.displ() [2] does
cheers
Jan
[1] https://gitlab.com/yade-dev/trunk/-/blob/master/core/State.hpp#L40
[2] https://yade-dem.org/doc/yade.wrapper.html#yade.wrapper.State.displ
[3] https://answers.launchpad.net/yade/+question/688763
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