void PhysicsContactNotificationHandler(physics.EntityContactNotification contact)
{
foreach (physics.ShapeContact sc in contact.ShapeContacts)
{
// look up shape involved in collision and check its one of the bumper shapes
pxContactSensor.ContactSensor s;
if (!_bumperShapeToSensorTable.TryGetValue(sc.LocalShape, out s))
{
continue;
}
if (contact.Stage == physics.ContactNotificationStage.Started)
{
s.Pressed = true;
}
else if (contact.Stage == physics.ContactNotificationStage.Finished)
{
s.Pressed = false;
}
s.TimeStamp = DateTime.Now;
// notification for individual sensor
_subMgrPort.Post(new submgr.Submit(s, dssp.DsspActions.UpdateRequest));
}
// send notification
_subMgrPort.Post(new submgr.Submit(_state, dssp.DsspActions.ReplaceRequest));
// reactivate notification handler
Activate(Arbiter.Receive(false, _contactNotificationPort, PhysicsContactNotificationHandler));
}
/// <summary>
/// This handler receives a notification when the bumper contact state changes
/// </summary>
/// <param name="contact"></param>
void ContactHandler(simcommon.EntityContactNotification contact)
{
if (contact.Stage == simcommon.ContactNotificationStage.Finished)
{
_entity.BumperLeft = _entity.BumperRight = false;
}
else
{
bool right = false;
bool left = false;
foreach (simcommon.ShapeContact sc in contact.ShapeContacts)
{
switch (sc.LocalShape.State.Name[sc.LocalShape.State.Name.Length - 2])
{
case 'L': left = true; break;
case 'R': right = true; break;
case 'B': left = true; right = true; break;
}
}
_entity.BumperLeft = left;
_entity.BumperRight = right;
}
}
