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));
}
void DeleteEntityNotificationHandler(simengine.DeleteSimulationEntity del)
{
_entity = null;
}
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));
}
// Raul - Dec 2007 - Changed to use my simulated bumper
private bumper.PioneerBumperEntity CreateBumperArray()
{
bumper.PioneerBumperEntity bumperArray = new bumper.PioneerBumperEntity();
// entity name, must match manifest partner name
bumperArray.State.Name = "SimulatedPioneerBumper";
// start simulated bumper service
pxbumper.Contract.CreateService(
ConstructorPort,
Microsoft.Robotics.Simulation.Partners.CreateEntityPartner(
"http://localhost/" + bumperArray.State.Name));
return bumperArray;
}
void DeleteEntityNotificationHandler(simengine.DeleteSimulationEntity del)
{
_entity = null;
}
