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);
}
}
