The code below is how C# would call a VisualWorks Smalltalk COM server for
motion simulation. I would like C# to call a Squeak motion simulator in a
similar fashion. But any workable method would be good too.

I look forward to all suggestions. Squeak can benefit from having the
ability to make plugins.

All the best,
Aik-Siong Koh

using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Text;
using System.Windows.Forms;
using CADSM;

public partial class Form1 : Form
    {   
          //Have Added  reference to CADSM, under COM tab.
          //CADSM is actually a tlb, which is registered in the Registry
          //C# program now connects to VisualWorks Smalltalk COM server.
          CADSMClass aCADSMClass = new CADSMClass();
      
        public Form1()
        {
            InitializeComponent();          
            
        }

        private void button1_Click(object sender, EventArgs e)
        {
            // Button Click will Trigger the Interaction between CADSM and
C# Code
            //Initiate an Assy and assign name and gravity
            CSMAssembly aAssembly = (CSMAssembly)aCADSMClass.AddAssembly();
            aAssembly.Name = "Assembly1";
            double[] aAGravity = {0.0, -9.81, 0.0};
            aAssembly.Gravity = aAGravity;
            
            //Add GlobalOriginMarker to Assy and set marker co-ordinates
            //This is Global Origin Marker
            CSMMarker aGlobalOriginMarker =
(CSMMarker)aAssembly.AddMarker();
            aGlobalOriginMarker.Name = "GlobalOriginMarker";
            double[] aGlobalOriginMarkerrFfF = { 0.0, 0.0, 0.0 };
            aGlobalOriginMarker.rFfF = aGlobalOriginMarkerrFfF;
            double[] aGlobalOriginMarkerEulerxyzFf = { 0.0, 0.0, 0.0 };
            aGlobalOriginMarker.EulerxyzFf = aGlobalOriginMarkerEulerxyzFf;
            

            //Initiate a Part and assign name, co-ordinates and Eulers
Parameters
            CSMPart aPendulumBlock = (CSMPart)aAssembly.AddPart();
            aPendulumBlock.Name = "PendulumBlock";
            double[] aPendulumBlockrFfF = { 0.0, 0.0, 0.0 };
            aPendulumBlock.rFfF = aPendulumBlockrFfF;
            double[] aPendulumBlockEulerxyzFf = { 0.0, 0.0, 0.0 };
            aPendulumBlock.EulerxyzFf = aPendulumBlockEulerxyzFf;
            double[] aPendulumBlockvOfO = { 0.0, 0.0, 0.0 };
            aPendulumBlock.vOfO = aPendulumBlockvOfO;
            double[] aPendulumBlockOmeOfO = { 0.0, 0.0, 0.0 };
            aPendulumBlock.OmeOfO = aPendulumBlockOmeOfO;

            //Add MassMarker to PendulumBlock
            CSMMassMarker aPendulumBlockMassMarker =
(CSMMassMarker)aPendulumBlock.AddMassMarker();
            aPendulumBlockMassMarker.Name = "MassMarker";
            double[] aPendulumBlockMassMarkerrFfF = { 0.5, 0.1, 0.0 };
            aPendulumBlockMassMarker.rFfF = aPendulumBlockMassMarkerrFfF;
            double[] aPendulumBlockMassMarkerEulerxyzFf = { 0.0, 0.0, 0.0 };
            aPendulumBlockMassMarker.EulerxyzFf =
aPendulumBlockMassMarkerEulerxyzFf;
            aPendulumBlockMassMarker.Mass = 10.0;
            double[] aPendulumBlockMassMarkerPrincipalInertias = { 0.1, 0.2,
0.3 };
            aPendulumBlockMassMarker.PrincipalInertias =
aPendulumBlockMassMarkerPrincipalInertias;

            //Add JointMarker to PendulumBlock
            CSMMarker aPendulumBlockJointMarker =
(CSMMarker)aPendulumBlock.AddMarker();
            aPendulumBlockJointMarker.Name = "JointMarker";
            double[] aPendulumBlockJointMarkerrFfF = { 0.1, 0.1, 0.0 };
            aPendulumBlockJointMarker.rFfF = aPendulumBlockJointMarkerrFfF;
            double[] aPendulumBlockJointMarkerEulerxyzFf = { 0.0, 0.0, 0.0
};
            aPendulumBlockJointMarker.EulerxyzFf =
aPendulumBlockJointMarkerEulerxyzFf;           


            //Connect the part marker to the ground marker with a joint.
            CSMCylindricalJoint aCylindricalJoint =
(CSMCylindricalJoint)aAssembly.AddCylindricalJoint();
            aCylindricalJoint.MarkerI = aGlobalOriginMarker.FullName();
            aCylindricalJoint.MarkerJ =
aPendulumBlockJointMarker.FullName();

            //Add a Prescribed Rotational Motion to Joint
            CSMRotationalMotion aMotion1 =
(CSMRotationalMotion)aCylindricalJoint.AddRotation();
            aMotion1.Rotation = "2.0*pi*time";

            //Setup Simulation parameters
            CSMSimulation aSimulation =
(CSMSimulation)aAssembly.SimulationParameters();
            aSimulation.Tstart = 0.0;
            aSimulation.Tend = 1.0;
            aSimulation.Hout = 0.1;
            aSimulation.Hmin = 1.0e-9;
            aSimulation.Hmax = 1.0;
            aSimulation.ErrorTolerance = 1.0e-6;

            aCADSMClass.StartDynamic();
			
            //Now, CADSM will start its Dynamic Computations. We need to
check the frame and loop through
            // the parts and get their Position details, frame by frame
            //Since we have only one part in this example (PendulumBlock),
we just have to get 
            // Positional Values, frame by frame.
            //Get Number of Frames from CADSM, this is the first data, we
get from CADSM to C#
			int aNoOfFrames = aCADSMClass.NumberOfFrames();
			
            //Create an Array to store output data in C#.
			Array _AllFramesTransformArray = Array.CreateInstance(typeof(Array),
aNoOfFrames);
			
            //Itereate through frames
            short iFrame = 1; 
			while (iFrame <= aNoOfFrames)
            {                
                if (aCADSMClass.CheckFrame(iFrame))
                {                    
					Array temp_frameArray = new double[28];                        
					CSMPart current_part = aPendulumBlock ;
				   
                                        //This code gets
Position-Velocity-Acceleration data from CADSM
                                        //This needs to be done to every
part and every frame..
					temp_frameArray = (Array)current_part.Pos4by4VelAccData(iFrame);
					                    
                    //Set the Array Value to corresponding index
                    AllFramesTransformArray.SetValue(temp_frameArray,
iFrame-1);
                    iFrame++;
                }                
            }
                    //Makes a cadsm .asm file for Debug purpose, This will
have all the markers and Motion/Forces etc..
			aAssembly.DebugASM();
            System.Windows.Forms.MessageBox.Show("DebugASM run");
        }
    }
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