Question #698572 on Yade changed:
https://answers.launchpad.net/yade/+question/698572
Status: Open => Answered
Jan Stránský proposed the following answer:
Hello,
nice catch.
I suspect eccentricAxisEngine function, the part after "#" line, the angular
velocity part.
It is entirely based on the previously computed constrained position.
Maybe a better approach would be to compute both position and orientation and
constrain them somehow together.
But since the linear velocity equations had only one unknown, there were more
unknown for the angular terms (although probably for the pendulum case it could
be reduced), so I used this "hack".
While it worked for the case of gravity, it seems not to be a good choice for
the case of interactions.
Cheers
Jan
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