void InsertEntityNotificationHandler(simengine.InsertSimulationEntity ins)
{
_entity = (simengine.LaserRangeFinderEntity)ins.Body;
_entity.ServiceContract = Contract.Identifier;
CreateDefaultState();
physics.RaycastProperties raycastProperties = new physics.RaycastProperties();
raycastProperties.StartAngle = -_state.AngularRange / 2.0f;
raycastProperties.EndAngle = _state.AngularRange / 2.0f;
raycastProperties.AngleIncrement = (float)_state.AngularResolution;
raycastProperties.Range = LASER_RANGE;
raycastProperties.OriginPose = new Pose();
_entity.RaycastProperties = raycastProperties;
try
{
_entity.Register(_raycastResults);
}
catch (Exception ex)
{
LogError(ex);
}
// attach handler to raycast results port
Activate(Arbiter.Receive(true, _raycastResults, RaycastResultsHandler));
}
void DeleteEntityNotificationHandler(simengine.DeleteSimulationEntity del)
{
_entity = null;
}
