void InsertEntityNotificationHandler(simengine.InsertSimulationEntity ins)
{
// TT - Unique entity class required
// _entity = (simengine.DifferentialDriveEntity)ins.Body;
_entity = (simengine.TTDifferentialDriveEntity)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;
}
void DeleteEntityNotificationHandler(simengine.DeleteSimulationEntity del)
{
_entity = null;
}
/*
public double ConvertQuaternion(Quaternion q)
{
AxisAngle a = new AxisAngle();
a = Quaternion.ToAxisAngle(q);
if (float.IsNaN(a.Angle))
return 0;
else if (Math.Sign(a.Axis.Y) < 0)
return 2.0 * Math.PI - a.Angle;
return a.Angle;
}
*/
void InsertEntityNotificationHandlerFirstTime(simengine.InsertSimulationEntity ins)
{
InsertEntityNotificationHandler(ins);
base.Start();
// Listen on the main port for requests and call the appropriate handler.
MainPortInterleave.CombineWith(
new Interleave(
new TeardownReceiverGroup(),
new ExclusiveReceiverGroup(
Arbiter.Receive<simengine.InsertSimulationEntity>(true, _notificationTarget, InsertEntityNotificationHandler),
Arbiter.Receive<simengine.DeleteSimulationEntity>(true, _notificationTarget, DeleteEntityNotificationHandler)
),
new ConcurrentReceiverGroup()
)
);
}
