[simspark-devel] Re: [BugReport]the kickeffector bug?

[Joschka B. <jbo...@un...>]

Dear Yuan,

thanks a lot for the bug report. I'm forwarding it to the developers list and 
I'll try to take a closer look tomorrow.

Thanks again!

Joschka

you wrote:
> Dear Joschka,
> I think I found a bug in kickeffector:
> While the agent both kick with the same kick force, but with
> differentdirections, the kick distance will be different! That is, when the
> agent act "kick(0,100)" in direction 0(means kickalong x axis), the
> distance is about 27m,but, when the agent act "kick(0,100)" in direction
> 90(means kick alongy axis), the distance is only about 20m. That's strange!
> So, I looked into the source code of kickeffector,
> In kickeffector.cpp
> 00050 KickEffector::Realize(boost::shared_ptr<ActionObject> action)
> 0012600127     const Vector3f
> torque(mTorqueFactor*force[1]/salt::g2PI,00128                          
> mTorqueFactor*force[0]/salt::g2PI,00129                          
> 0.0);00130 I think it is a bug here, I think the torque added to the ball
> should be Vector3f torque(-mTorqueFactor*force[1]/salt::g2PI,              
>  mTorqueFactor*force[0]/salt::g2PI,                0.0); the first paramter
> should be "-mTorqueFactor*force[1]/salt::g2PI", right? After change this, I
> test again, and the kick distance is onlydetermined by the kick force. Hope
> this is useful :-)
>
> --Best wishes!Xu Yuan