// [uint16(length) MessagePayload uint8(checksum)]
// MessagePayload = { uint8(WORLD_STATE) {[R,V] ...} }
void OnCollisionEnter(Collision collision)
{
if (m_subscribeCollisionBegin)
{
int ct = 0;
byte[] temp;
WorldObject wo = collision.gameObject.GetComponent <WorldObject>();
string id2;
if (wo != null)
{
id2 = wo.m_id;
}
else
{
id2 = GetParentId(collision.gameObject.transform.parent);
}
Vector3 point;
Vector3 normal = collision.contacts[0].normal;
Vector3 relativeVelocity = collision.relativeVelocity;
// R = uint8(COLLISION_BEGIN)
// V = [(len string) (len string) (numContacts = 1) 3*single 3*single]
temp = new byte[sizeof(byte) + (1 + m_id.Length) + (1 + id2.Length) + 2 * sizeof(byte) + 9 * sizeof(float)];
temp[ct] = Convert.ToByte(WorldInterface.ReportType.COLLISION_BEGIN);
ct++;
temp[ct] = Convert.ToByte(m_id.Length);
ct++;
for (int i = 0; i < m_id.Length; i++)
{
temp[ct + i] = Convert.ToByte(m_id[i]);
}
ct = ct + m_id.Length;
temp[ct] = Convert.ToByte(id2.Length);
ct++;
for (int i = 0; i < id2.Length; i++)
{
temp[ct + i] = Convert.ToByte(id2[i]);
}
ct = ct + id2.Length;
temp[ct] = 1; // number of contacts is fixed at 1
ct = ct + sizeof(byte);
if (m_worldCoordinates)
{
point = collision.contacts[0].point;
}
else
{
point = this.transform.InverseTransformPoint(collision.contacts[0].point);
}
// Negate x to convert to a right handed coordinate frame.
Array.Copy(BitConverter.GetBytes(-point.x), 0, temp, ct, sizeof(float));
ct = ct + sizeof(float);
Array.Copy(BitConverter.GetBytes(point.y), 0, temp, ct, sizeof(float));
ct = ct + sizeof(float);
Array.Copy(BitConverter.GetBytes(point.z), 0, temp, ct, sizeof(float));
ct = ct + sizeof(float);
temp[ct] = 1; // number of contacts is fixed at 1
ct = ct + sizeof(byte);
// Negate x to convert to a right handed coordinate frame.
Array.Copy(BitConverter.GetBytes(-normal.x), 0, temp, ct, sizeof(float));
ct = ct + sizeof(float);
Array.Copy(BitConverter.GetBytes(normal.y), 0, temp, ct, sizeof(float));
ct = ct + sizeof(float);
Array.Copy(BitConverter.GetBytes(normal.z), 0, temp, ct, sizeof(float));
ct = ct + sizeof(float);
// Negate x to convert to a right handed coordinate frame.
Array.Copy(BitConverter.GetBytes(-relativeVelocity.x), 0, temp, ct, sizeof(float));
ct = ct + sizeof(float);
Array.Copy(BitConverter.GetBytes(relativeVelocity.y), 0, temp, ct, sizeof(float));
ct = ct + sizeof(float);
Array.Copy(BitConverter.GetBytes(relativeVelocity.z), 0, temp, ct, sizeof(float));
ct = ct + sizeof(float);
m_worldIface.AppendWorldStateMessage(temp);
}
}
