public static RigidNode_Base ExportSkeleton(IProgress <ProgressUpdate> progress)
{
// If no components
if (RobotExporterAddInServer.Instance.OpenAssemblyDocument.ComponentDefinition.Occurrences.OfType <ComponentOccurrence>().ToList().Count == 0)
{
return(null);
}
//Getting Rigid Body Info...
progress?.Report(new ProgressUpdate("Getting physics info...", 1, 4));
var rigidGetOptions = RobotExporterAddInServer.Instance.Application.TransientObjects.CreateNameValueMap();
rigidGetOptions.Add("DoubleBearing", false);
var asmDocument = RobotExporterAddInServer.Instance.OpenAssemblyDocument;
var rawRigidResults = asmDocument.ComponentDefinition.RigidBodyAnalysis(rigidGetOptions);
var rigidResults = new CustomRigidResults(rawRigidResults);
try
{
RigidBodyCleaner.CleanGroundedBodies(rigidResults);
}
catch (NoGroundException)
{
WinFormsUtils.ShowErrorDialog("Please ground a part in your assembly to export your robot.", "No Ground");
return(null);
}
//Building Model...
progress?.Report(new ProgressUpdate("Building model...", 2, 4));
var skeletonBase = RigidBodyCleaner.BuildAndCleanDijkstra(rigidResults);
//Cleaning Up...
progress?.Report(new ProgressUpdate("Cleaning up...", 3, 4));
var nodes = new List <RigidNode_Base>();
skeletonBase.ListAllNodes(nodes);
foreach (var node in nodes)
{
node.ModelFileName = ((RigidNode)node).group.ToString();
node.ModelFullID = node.GetModelID();
}
progress?.Report(new ProgressUpdate("Done", 4, 4));
return(skeletonBase);
}
