void InsertEntityNotificationHandler(InsertSimulationEntity ins)
{
_entity = (SonarEntity)ins.Body;
_entity.ServiceContract = Contract.Identifier;
// CreateDefaultState();
RaycastProperties raycastProperties = new RaycastProperties();
raycastProperties.StartAngle = (float)-_state.AngularRange / 2.0f;
raycastProperties.EndAngle = (float)_state.AngularRange / 2.0f;
raycastProperties.AngleIncrement = (float)_state.AngularResolution;
// raycastProperties.Range = LASER_RANGE;
raycastProperties.Range = SONAR_RANGE;
// Raul - This should be the pose of the sonar transducer.
// Raul - I consider 8 Sonar transducers rays in the P3DX frontal ring
// Raul - coming from a common central point.
raycastProperties.OriginPose = new Pose();
_entity.RaycastProperties = raycastProperties;
_entity.Register(_raycastResults);
// attach handler to raycast results port
Activate(Arbiter.Receive(true, _raycastResults, RaycastResultsHandler));
}
void InsertEntityNotificationHandler(InsertSimulationEntity ins)
{
_entity = (SonarEntity)ins.Body;
_entity.ServiceContract = Contract.Identifier;
// CreateDefaultState();
RaycastProperties raycastProperties = new RaycastProperties();
raycastProperties.StartAngle = (float) -_state.AngularRange / 2.0f;
raycastProperties.EndAngle = (float) _state.AngularRange / 2.0f;
raycastProperties.AngleIncrement = (float)_state.AngularResolution;
// raycastProperties.Range = LASER_RANGE;
raycastProperties.Range = SONAR_RANGE;
// Raul - This should be the pose of the sonar transducer.
// Raul - I consider 8 Sonar transducers rays in the P3DX frontal ring
// Raul - coming from a common central point.
raycastProperties.OriginPose = new Pose();
_entity.RaycastProperties = raycastProperties;
_entity.Register(_raycastResults);
// attach handler to raycast results port
Activate(Arbiter.Receive(true, _raycastResults, RaycastResultsHandler));
}
void DeleteEntityNotificationHandler(DeleteSimulationEntity del)
{
_entity = null;
}
void DeleteEntityNotificationHandler(DeleteSimulationEntity del)
{
_entity = null;
}