void InsertEntityNotificationHandler(simengine.InsertSimulationEntity ins)
{
_entity = (simengine.DifferentialDriveEntity)ins.Body;
_entity.ServiceContract = Contract.Identifier;
// create default state based on the physics entity
if (_entity.ChassisShape != null)
{
_state.DistanceBetweenWheels = _entity.ChassisShape.BoxState.Dimensions.X;
}
_state.LeftWheel.MotorState.PowerScalingFactor = _entity.MotorTorqueScaling;
_state.RightWheel.MotorState.PowerScalingFactor = _entity.MotorTorqueScaling;
//SpawnIterator(TestDriveDistanceAndRotateDegrees);
}
void DeleteEntityNotificationHandler(simengine.DeleteSimulationEntity del)
{
_entity = null;
}