public static Dictionary <string, List <object> > getParticles(string name, bool unitizeVelocity = false)
{
MDoubleArray pPos = new MDoubleArray();
MGlobal.executeCommand("getParticleAttr -at position -at velocity -array true " + name, pPos);
List <object> particlePos = new List <object>();
List <object> particleVec = new List <object>();
int numPart = 0;
var posAttr = DMInterop.getPlug(name, "position");
if (posAttr.isArray)
{
numPart = (int)posAttr.numElements;
particlePos = new List <object>(numPart);
particleVec = new List <object>(numPart);
for (uint i = 0; i < numPart; i += 3)
{
particlePos.Add(Point.ByCoordinates(posAttr[i].asDouble(), posAttr[i + 1].asDouble(), posAttr[i + 2].asDouble()));
}
}
return(new Dictionary <string, List <object> >
{
{ "Particles", particlePos },
{ "Velocity", particleVec }
});
}
public static void SetRobotJointsRotations(double[] rotationVals, string[] jointNames = null)
{
string[] jName;
if (jointNames != null && jointNames.Length == 6)
{
jName = jointNames;
}
else
{
jName = new string[6] {
"J1", "J2", "J3", "J4", "J5", "J6"
};
}
if (rotationVals.Length != 6)
{
new WarningException("The roation values must contain exactly 6 values, one for each axis");
}
/*
* string melCmd =
* string.Format(
* "setAttr J1.rx {0}; setAttr J2.rz {1}; setAttr J3.rz {2}; setAttr J4.rx {3}; setAttr J5.rz {4}; setAttr J6.rx {5}; ",
* rotationVals[0], -rotationVals[1], -rotationVals[2], rotationVals[3], rotationVals[4], rotationVals[5]+90);
*
* MGlobal.executeCommand(melCmd);
*/
try
{
MPlug j1Plug = DMInterop.getPlug(jName[0], "rx");
j1Plug.setDouble(rotationVals[0] * 0.0174533);
MPlug j2Plug = DMInterop.getPlug(jName[1], "rz");
j2Plug.setDouble(-rotationVals[1] * 0.0174533);
MPlug j3Plug = DMInterop.getPlug(jName[2], "rz");
j3Plug.setDouble(-rotationVals[2] * 0.0174533);
MPlug j4Plug = DMInterop.getPlug(jName[3], "rx");
j4Plug.setDouble(rotationVals[3] * 0.0174533);
MPlug j5Plug = DMInterop.getPlug(jName[4], "rz");
j5Plug.setDouble(-rotationVals[4] * 0.0174533);
MPlug j6Plug = DMInterop.getPlug(jName[5], "rx");
j6Plug.setDouble(rotationVals[5] * 0.0174533);
}
catch (Exception e)
{
MGlobal.displayWarning(e.Message);
}
}
public static void SetPlugValue(string objectName, string plugName, object plugValue)
{
MPlug plug;
try
{
plug = DMInterop.getPlug(objectName, plugName);
}
catch (Exception e)
{
MGlobal.displayWarning($"plug not found: {e.Message}");
return;
}
if (plugValue is double)
{
plug.setDouble(Convert.ToDouble(plugValue));
}
else if (plugValue is int)
{
plug.setInt(Convert.ToInt32(plugValue));
}
else if (plugValue is Vector)
{
Vector vec = (Vector)plugValue;
var mVector = new MVector();
if (MGlobal.isYAxisUp)
{
mVector.x = vec.X;
mVector.y = vec.Z;
mVector.z = -vec.Y;
}
else
{
mVector.x = vec.X;
mVector.y = vec.Y;
mVector.z = vec.Z;
}
}
}
