[simspark-devel] ForceResistancePerceptor Finished (hopefully!)

[Hedayat V. <hed...@ai...>]

Hi,

I've finished my work on ForceResistancePerceptor. Also, I've added it's 
documentation to TEXT_INSTEAD_OF_A_MANUAL.txt (please read it as my 
English is not good  and it might need editing ;)

It need some testing, but hopefully it should work well! (For using this 
perceptor, TouchPerceptorHandler should be used instead of 
ContactJointHandler).

The final output is an weighted average position (in local coordinates 
relative to the body) and the total force vector applied to it 
(previously I've suggested average force vector, but it seems to be 
completely wrong!)


A small question: I've used GetLocalTransform().Pos() from the Transform 
class to convert global coordinates to local coordinates. But it seems 
that using GetWorldTransform() is more appropriate (while the result is 
the same). But what about the body object below the transform node? 
Should I use the Body::GetPosition() method of that function instead? 
Which choice is the best? (and why? (optional!:))


I should be prepared for both my university exams; but I'll try to work 
on soccer rules as much as possible. I'll switch to the SIMSPARK_RULES 
branch now!


Good luck,

Bye

Hedayat