Question #706187 on Yade changed:
https://answers.launchpad.net/yade/+question/706187
Status: Open => Answered
Jan Stránský proposed the following answer:
Hello,
> 1- Does the torqueEngine allow for the allocation and update of the
mass center of the body during its rolling as it is possible for
combinedKinematicsEngine and rotationEngine?
No.
TorqueEngine is just equivalent to O.forces.addT(...)
[1]
> 2-How to apply variable force and torque to a body in YADE?
PyRunner + O.forces.setPermF [2] and/or O.forces.setPermT [3]
> 3- Is there any available servoController for force and torque to
adjust the linear and angular velocity?
IMO no.
But according to ServoPIDController [4], it should not be difficult to
implement.
Even just in python, i.e. RotationEngine + PyRunner and proper adjustment of
angular velocity.
Cheers
Jan
[1]
https://gitlab.com/yade-dev/trunk/-/blob/master/pkg/common/TorqueEngine.hpp#L23
[2]
https://yade-dem.org/doc/yade.wrapper.html#yade.wrapper.ForceContainer.setPermF
[3]
https://yade-dem.org/doc/yade.wrapper.html#yade.wrapper.ForceContainer.setPermT
[4]
https://gitlab.com/yade-dev/trunk/-/blob/master/pkg/common/KinematicEngines.cpp#L175
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