示例#1
0
        public float getContact(int index)
        {
            ArrayList list = new ArrayList();

            if (!SensorsDictionary.TryGetValue(SensorTypes.ContactSensorArray, out list))
            {
                throw new NoInstanceException();
            }

            if (list.Count == 0 || list.Count < index + 1)
            {
                throw new IndexOutOfRangeException();
            }

            ListEntry le    = (ListEntry)list[index];
            float     value = Defines.INVALID_FLOAT;

            if (le.Adapter.AdapterType == AdapterTypes.ContactSensorArrayAdapter)
            {
                ContactSensorArrayAdapter adapter = (ContactSensorArrayAdapter)le.Adapter;
                if (adapter.get(le.BeginOffset))
                {
                    value = 1;
                }
                else
                {
                    value = 0;
                }
            }

            if (value == Defines.INVALID_FLOAT)
            {
                throw new InvalidValueException("Cannot get true value.");
            }

            return(value);
        }
示例#2
0
        public float[] getContact()
        {
            ArrayList list = new ArrayList();

            if (!SensorsDictionary.TryGetValue(SensorTypes.ContactSensorArray, out list))
            {
                throw new NoInstanceException();
            }

            float[] ret = new float[list.Count];
            for (int index = 0; index < list.Count; index++)
            {
                ListEntry le = (ListEntry)list[index];
                ret[index] = Defines.INVALID_FLOAT;

                if (le.Adapter.AdapterType == AdapterTypes.ContactSensorArrayAdapter)
                {
                    ContactSensorArrayAdapter adapter = (ContactSensorArrayAdapter)le.Adapter;
                    if (adapter.get(le.BeginOffset))
                    {
                        ret[index] = 1;
                    }
                    else
                    {
                        ret[index] = 0;
                    }
                }

                if (ret[index] == Defines.INVALID_FLOAT)
                {
                    throw new InvalidValueException("Cannot get true value.");
                }
            }

            return(ret);
        }