fix(sim): ball mass 0.046 kg (was 46 kg) - #7
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Replacement (robot/ball teleport) already called DynamicRigidBody.reset()
on position, but two gaps left it looking like the physics body never
really moved:
- mocSim_BallReplacement.vx/vy were parsed but silently dropped, so a
teleported ball with a requested launch velocity just sat still.
- A robot's previously-commanded velocity (veltangent/velnormal/velangular)
stayed latched in the Robot model after a teleport, so the very next
tick re-applied it and the robot immediately drove off again — plus the
QML-side pose bookkeeping (prePoses/preVelocities) still held the
pre-teleport pose, reading the position jump itself as a brief phantom
velocity through MotionControl's accel limiter.
Fixes:
- Robot::resetMotion() zeroes kick/spinner/tangent/normal/angular targets
and clears the actuation-delay buffers; observer.cpp calls it for the
replaced robot before re-emitting {blue,yellow}RobotsChanged so QML
picks up the stop immediately instead of waiting on the next commands
packet.
- onRobotReplacementRequested seeds prePoses/preVelocities to the
just-placed, at-rest pose so there's no phantom one-tick velocity.
- observer.cpp now forwards ball vx/vy (m/s -> scene mm/s, same axis
convention as position) through a widened ballReplacementRequested
signal; GameObjects.qml's new placeBall() helper (factored out of the
existing mouse "place ball" path, which behaves identically to before)
applies it via setLinearVelocity() when present.
Verified headless (QT_QPA_PLATFORM=offscreen) by sending mocSim_Packet
Replacement datagrams via protoc --encode and reading back vision:
- Robot teleported mid-command (veltangent latched) now lands and stays
within ~0.05mm over 1.3s, vs. previously coasting away at full speed.
- Ball Replacement with vx/vy now visibly travels and decelerates under
the existing slip/roll friction model instead of sitting still.
- Ball Replacement without vx/vy (the common case) is unaffected: still
placed at rest.
- A second robot's independent, ongoing velocity command is unaffected
by another robot's Replacement (no cross-talk).
Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
Comment said ~46 g golf ball but the PhysX mass was 46.0 while robots use 2.5 kg, so the ball was ~18× heavier than a robot and ~1000× a real SSL ball. Collision impulse ratio is now correct; friction impulses use the same ballMass SSOT. Co-authored-by: Cursor <cursoragent@cursor.com>
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Summary
GameObjects.qmlのballMassを46.0→0.046に修正（ゴルフボール ≈46 g = 0.046 kg）mass: 2.5（kg）と同単位。修正前はボールがロボの約18倍重く、キック／衝突が不自然だったTest plan
m2-Simを再起動し、ロボがボールに当たったときにボールが弾かれ、ロボが弾かれないことを目視確認ballMassを参照）Made with Cursor