void DeleteEntityNotificationHandler(simengine.DeleteSimulationEntity del)
{
_entity = null;
}
/// <summary>
/// Called the first time the simulation engine tells us about our entity. Activate
/// the other handlers and insert ourselves into the service directory.
/// </summary>
/// <param name="ins"></param>
void InsertEntityNotificationHandlerFirstTime(simengine.InsertSimulationEntity ins)
{
InsertEntityNotificationHandler(ins);
base.Start();
MainPortInterleave.CombineWith(
new Interleave(
new TeardownReceiverGroup(),
new ExclusiveReceiverGroup(
Arbiter.Receive<simengine.InsertSimulationEntity>(true, _notificationTarget, InsertEntityNotificationHandler),
Arbiter.Receive<simengine.DeleteSimulationEntity>(true, _notificationTarget, DeleteEntityNotificationHandler)
),
new ConcurrentReceiverGroup()
)
);
}
void InsertEntityNotificationHandler(simengine.InsertSimulationEntity ins)
{
_entity = (PioneerGPSEntity)ins.Body;
_entity.ServiceContract = Contract.Identifier;
CreateDefaultState();
}
void InsertEntityNotificationHandler(simengine.InsertSimulationEntity ins)
{
// _entity = (simengine.BumperArrayEntity)ins.Body;
_entity = (PioneerBumperEntity)ins.Body;
_entity.ServiceContract = Contract.Identifier;
// reinitialize the state
CreateDefaultState();
pxContactSensor.ContactSensor cs = null;
// The simulation bumper service uses a simple heuristic to assign contact sensors, to physics shapes:
// Half the sensors go infront, the other half in the rear. Assume front sensors are first in the list
// In the for loop below we create a lookup table that matches simulation shapes with sensors. When
// the physics engine notifies us with a contact, it provides the shape that came into contact. We need to
// translate that to sensor. In the future we might add an object Context field to shapes to make this easier
for (int i = 0; i < _entity.Shapes.Length; i++)
{
cs = new pxContactSensor.ContactSensor();
cs.Name = _entity.Shapes[i].State.Name;
cs.HardwareIdentifier = i;
_state.Sensors.Add(cs);
_bumperShapeToSensorTable.Add((physics.BoxShape)_entity.Shapes[i], cs);
}
// subscribe to bumper simulation entity for contact notifications
_entity.Subscribe(_contactNotificationPort);
// Activate a handler on the notification port, it will run when contacts occur in simulation
Activate(Arbiter.Receive(false, _contactNotificationPort, PhysicsContactNotificationHandler));
}
