how to calculate rotational energy of particle

by the way, i know that function yade._utils.kineticEnergy() can be used to calculate the total kinetic neergy of all particles, but i want to calculate the kinetic energy of polyhedra and sphere separately, which will make the function yade._utils.kineticEnergy()
become useless to me, can you give me some advice?

> which will make the function yade._utils.kineticEnergy() become useless to me

I would not be that strict.
Even I dare to say that the implementation of kineticEnergy(), namely formulas for linear kinetic energy [1], rotational kinetic energy of spherical particle [2] and rotational kinetic energy of aspherical particle [3] could be actually very useful :-)

cheers
Jan

[1] https://gitlab.com/yade-dev/trunk/blob/master/pkg/dem/Shop_01.cpp#L165
[2] https://gitlab.com/yade-dev/trunk/blob/master/pkg/dem/Shop_01.cpp#L179
[3] https://gitlab.com/yade-dev/trunk/blob/master/pkg/dem/Shop_01.cpp#L175

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?

b.state.ori.toRotationMatrix()

hint:
b = sphere((0,0,0),1)
help(b.state.ori)

cheers
Jan