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| typedef unsigned char simBool; |
| typedef char simChar; |
| typedef int simInt; |
| typedef float simFloat; |
| typedef double simDouble; |
| typedef void simVoid; |
| typedef unsigned char simUChar; |
| typedef unsigned int simUInt; |
| typedef unsigned long long int simUInt64; |
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| struct SScriptCallBack |
| { |
| simInt objectID; |
| simInt scriptID; |
| simInt stackID; |
| simChar waitUntilZero; |
| simChar* raiseErrorWithMessage; |
| }; |
|
|
| struct SShapeVizInfo |
| { |
| simFloat* vertices; |
| simInt verticesSize; |
| simInt* indices; |
| simInt indicesSize; |
| simFloat shadingAngle; |
| simFloat* normals; |
| simFloat colors[9]; |
| simChar* texture; |
| simInt textureId; |
| simInt textureRes[2]; |
| simFloat* textureCoords; |
| simInt textureApplyMode; |
| simInt textureOptions; |
| }; |
|
|
| struct SLuaCallBack |
| { |
| simInt objectID; |
| simBool* inputBool; |
| simInt* inputInt; |
| simFloat* inputFloat; |
| simChar* inputChar; |
| simInt inputArgCount; |
| simInt* inputArgTypeAndSize; |
| simBool* outputBool; |
| simInt* outputInt; |
| simFloat* outputFloat; |
| simChar* outputChar; |
| simInt outputArgCount; |
| simInt* outputArgTypeAndSize; |
| simChar waitUntilZero; |
| simChar* inputCharBuff; |
| simChar* outputCharBuff; |
| simInt scriptID; |
| simDouble* inputDouble; |
| simDouble* outputDouble; |
| }; |
|
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| struct SSyncMsg |
| { |
| unsigned char msg; |
| void* data; |
| size_t dataSize; |
| }; |
|
|
| struct SSyncRt |
| { |
| unsigned char objTypes[3]; |
| int objHandles[3]; |
| }; |
|
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| typedef int (*contactCallback)(int,int,int,int*,float*); |
| typedef int (*jointCtrlCallback)(int,int,int,const int*,const float*,float*); |
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| simInt simRunSimulator(const simChar* applicationName,simInt options,simVoid(*initCallBack)(),simVoid(*loopCallBack)(),simVoid(*deinitCallBack)()); |
| simInt simRunSimulatorEx(const simChar* applicationName,simInt options,simVoid(*initCallBack)(),simVoid(*loopCallBack)(),simVoid(*deinitCallBack)(),simInt stopDelay,const simChar* sceneOrModelToLoad); |
| simVoid* simGetMainWindow(simInt type); |
| simChar* simGetLastError(); |
| simInt simSetBooleanParameter(simInt parameter,simBool boolState); |
| simInt simGetBooleanParameter(simInt parameter); |
| simInt simSetBoolParameter(simInt parameter,simBool boolState); |
| simInt simGetBoolParameter(simInt parameter); |
| simInt simSetIntegerParameter(simInt parameter,simInt intState); |
| simInt simGetIntegerParameter(simInt parameter,simInt* intState); |
| simInt simSetInt32Parameter(simInt parameter,simInt intState); |
| simInt simGetInt32Parameter(simInt parameter,simInt* intState); |
| simInt simGetUInt64Parameter(simInt parameter,simUInt64* intState); |
| simInt simSetFloatingParameter(simInt parameter,simFloat floatState); |
| simInt simGetFloatingParameter(simInt parameter,simFloat* floatState); |
| simInt simSetFloatParameter(simInt parameter,simFloat floatState); |
| simInt simGetFloatParameter(simInt parameter,simFloat* floatState); |
| simInt simSetStringParameter(simInt parameter,const simChar* str); |
| simChar* simGetStringParameter(simInt parameter); |
| simInt simGetObjectHandle(const simChar* objectName); |
| simInt simRemoveObject(simInt objectHandle); |
| simInt simRemoveModel(simInt objectHandle); |
| simChar* simGetObjectName(simInt objectHandle); |
| simInt simGetObjects(simInt index,simInt objectType); |
| simInt simSetObjectName(simInt objectHandle,const simChar* objectName); |
| simInt simGetCollectionHandle(const simChar* collectionName); |
| simInt simRemoveCollection(simInt collectionHandle); |
| simInt simEmptyCollection(simInt collectionHandle); |
| simChar* simGetCollectionName(simInt collectionHandle); |
| simInt simSetCollectionName(simInt collectionHandle,const simChar* collectionName); |
| simInt simGetObjectMatrix(simInt objectHandle,simInt relativeToObjectHandle,simFloat* matrix); |
| simInt simSetObjectMatrix(simInt objectHandle,simInt relativeToObjectHandle,const simFloat* matrix); |
| simInt simGetObjectPosition(simInt objectHandle,simInt relativeToObjectHandle,simFloat* position); |
| simInt simSetObjectPosition(simInt objectHandle,simInt relativeToObjectHandle,const simFloat* position); |
| simInt simGetObjectOrientation(simInt objectHandle,simInt relativeToObjectHandle,simFloat* eulerAngles); |
| simInt simGetObjectQuaternion(simInt objectHandle,simInt relativeToObjectHandle,simFloat* quaternion); |
| simInt simSetObjectQuaternion(simInt objectHandle,simInt relativeToObjectHandle,const simFloat* quaternion); |
| simInt simSetObjectOrientation(simInt objectHandle,simInt relativeToObjectHandle,const simFloat* eulerAngles); |
| simInt simGetJointPosition(simInt objectHandle,simFloat* position); |
| simInt simSetJointPosition(simInt objectHandle,simFloat position); |
| simInt simSetJointTargetPosition(simInt objectHandle,simFloat targetPosition); |
| simInt simGetJointTargetPosition(simInt objectHandle,simFloat* targetPosition); |
| simInt simSetJointMaxForce(simInt objectHandle,simFloat forceOrTorque); |
| simInt simGetPathPosition(simInt objectHandle,simFloat* position); |
| simInt simSetPathPosition(simInt objectHandle,simFloat position); |
| simInt simGetPathLength(simInt objectHandle,simFloat* length); |
| simInt simGetJointMatrix(simInt objectHandle,simFloat* matrix); |
| simInt simSetSphericalJointMatrix(simInt objectHandle,const simFloat* matrix); |
| simInt simGetJointInterval(simInt objectHandle,simBool* cyclic,simFloat* interval); |
| simInt simSetJointInterval(simInt objectHandle,simBool cyclic,const simFloat* interval); |
| simInt simGetObjectParent(simInt objectHandle); |
| simInt simGetObjectChild(simInt objectHandle,simInt index); |
| simInt simSetObjectParent(simInt objectHandle,simInt parentObjectHandle,simBool keepInPlace); |
| simInt simGetObjectType(simInt objectHandle); |
| simInt simGetJointType(simInt objectHandle); |
| simInt simBuildIdentityMatrix(simFloat* matrix); |
| simInt simCopyMatrix(const simFloat* matrixIn,simFloat* matrixOut); |
| simInt simBuildMatrix(const simFloat* position,const simFloat* eulerAngles,simFloat* matrix); |
| simInt simBuildMatrixQ(const simFloat* position,const simFloat* quaternion,simFloat* matrix); |
| simInt simGetEulerAnglesFromMatrix(const simFloat* matrix,simFloat* eulerAngles); |
| simInt simGetQuaternionFromMatrix(const simFloat* matrix,simFloat* quaternion); |
| simInt simInvertMatrix(simFloat* matrix); |
| simInt simMultiplyMatrices(const simFloat* matrixIn1,const simFloat* matrixIn2,simFloat* matrixOut); |
| simInt simInterpolateMatrices(const simFloat* matrixIn1,const simFloat* matrixIn2,simFloat interpolFactor,simFloat* matrixOut); |
| simInt simTransformVector(const simFloat* matrix,simFloat* vect); |
| simInt simReservedCommand(simInt v,simInt w); |
| simFloat simGetSimulationTime(); |
| simInt simGetSimulationState(); |
| simFloat simGetSystemTime(); |
| simInt simGetSystemTimeInMilliseconds(); |
| simUInt simGetSystemTimeInMs(simInt previousTime); |
| simInt simLoadScene(const simChar* filename); |
| simInt simCloseScene(); |
| simInt simSaveScene(const simChar* filename); |
| simInt simLoadModel(const simChar* filename); |
| simInt simSaveModel(simInt baseOfModelHandle,const simChar* filename); |
| simChar* simGetSimulatorMessage(simInt* messageID,simInt* auxiliaryData,simInt* returnedDataSize); |
| simInt simAddModuleMenuEntry(const simChar* entryLabel,simInt itemCount,simInt* itemHandles); |
| simInt simSetModuleMenuItemState(simInt itemHandle,simInt state,const simChar* label); |
| simInt simDoesFileExist(const simChar* filename); |
| simInt simIsObjectInSelection(simInt objectHandle); |
| simInt simAddObjectToSelection(simInt what,simInt objectHandle); |
| simInt simRemoveObjectFromSelection(simInt what,simInt objectHandle); |
| simInt simGetObjectSelectionSize(); |
| simInt simGetObjectLastSelection(); |
| simInt simGetObjectSelection(simInt* objectHandles); |
| simInt simHandleCollision(simInt collisionObjectHandle); |
| simInt simReadCollision(simInt collisionObjectHandle); |
| simInt simHandleDistance(simInt distanceObjectHandle,simFloat* smallestDistance); |
| simInt simReadDistance(simInt distanceObjectHandle,simFloat* smallestDistance); |
| simInt simHandleProximitySensor(simInt sensorHandle,simFloat* detectedPoint,simInt* detectedObjectHandle,simFloat* normalVector); |
| simInt simReadProximitySensor(simInt sensorHandle,simFloat* detectedPoint,simInt* detectedObjectHandle,simFloat* normalVector); |
| simInt simHandleIkGroup(simInt ikGroupHandle); |
| simInt simCheckIkGroup(simInt ikGroupHandle,simInt jointCnt,const simInt* jointHandles,simFloat* jointValues,const simInt* jointOptions); |
| simInt simHandleDynamics(simFloat deltaTime); |
| simInt simGetScriptHandle(const simChar* scriptName); |
| simInt simSetScriptText(simInt scriptHandle,const simChar* scriptText); |
| const simChar* simGetScriptText(simInt scriptHandle); |
| simInt simGetScriptProperty(simInt scriptHandle,simInt* scriptProperty,simInt* associatedObjectHandle); |
| simInt simAssociateScriptWithObject(simInt scriptHandle,simInt associatedObjectHandle); |
| simInt simGetScript(simInt index); |
| simInt simGetScriptAssociatedWithObject(simInt objectHandle); |
| simInt simGetCustomizationScriptAssociatedWithObject(simInt objectHandle); |
| simInt simGetObjectAssociatedWithScript(simInt scriptHandle); |
| simChar* simGetScriptName(simInt scriptHandle); |
| simInt simHandleMainScript(); |
| simInt simResetScript(simInt scriptHandle); |
| simInt simAddScript(simInt scriptProperty); |
| simInt simRemoveScript(simInt scriptHandle); |
| simInt simRefreshDialogs(simInt refreshDegree); |
| simInt simGetCollisionHandle(const simChar* collisionObjectName); |
| simInt simGetDistanceHandle(const simChar* distanceObjectName); |
| simInt simGetIkGroupHandle(const simChar* ikGroupName); |
| simInt simResetCollision(simInt collisionObjectHandle); |
| simInt simResetDistance(simInt distanceObjectHandle); |
| simInt simResetProximitySensor(simInt sensorHandle); |
| simInt simCheckProximitySensor(simInt sensorHandle,simInt entityHandle,simFloat* detectedPoint); |
| simInt simCheckProximitySensorEx(simInt sensorHandle,simInt entityHandle,simInt detectionMode,simFloat detectionThreshold,simFloat maxAngle,simFloat* detectedPoint,simInt* detectedObjectHandle,simFloat* normalVector); |
| simInt simCheckProximitySensorEx2(simInt sensorHandle,simFloat* vertexPointer,simInt itemType,simInt itemCount,simInt detectionMode,simFloat detectionThreshold,simFloat maxAngle,simFloat* detectedPoint,simFloat* normalVector); |
| simChar* simCreateBuffer(simInt size); |
| simInt simReleaseBuffer(const simChar* buffer); |
| simInt simCheckCollision(simInt entity1Handle,simInt entity2Handle); |
| simInt simCheckCollisionEx(simInt entity1Handle,simInt entity2Handle,simFloat** intersectionSegments); |
| simInt simCheckDistance(simInt entity1Handle,simInt entity2Handle,simFloat threshold,simFloat* distanceData); |
| simChar* simGetObjectConfiguration(simInt objectHandle); |
| simInt simSetObjectConfiguration(const simChar* data); |
| simChar* simGetConfigurationTree(simInt objectHandle); |
| simInt simSetConfigurationTree(const simChar* data); |
| simInt simSetSimulationTimeStep(simFloat timeStep); |
| simFloat simGetSimulationTimeStep(); |
| simInt simGetRealTimeSimulation(); |
| simInt simIsRealTimeSimulationStepNeeded(); |
| simInt simAdjustRealTimeTimer(simInt instanceIndex,simFloat deltaTime); |
| simInt simGetSimulationPassesPerRenderingPass(); |
| simInt simAdvanceSimulationByOneStep(); |
| simInt simStartSimulation(); |
| simInt simStopSimulation(); |
| simInt simPauseSimulation(); |
| simInt simLoadModule(const simChar* filenameAndPath,const simChar* pluginName); |
| simInt simUnloadModule(simInt pluginhandle); |
| simVoid* simSendModuleMessage(simInt message,simInt* auxiliaryData,simVoid* customData,simInt* replyData); |
| simVoid* simBroadcastMessage(simInt* auxiliaryData,simVoid* customData,simInt* replyData); |
| simChar* simGetModuleName(simInt index,simUChar* moduleVersion); |
| simInt simFloatingViewAdd(simFloat posX,simFloat posY,simFloat sizeX,simFloat sizeY,simInt options); |
| simInt simFloatingViewRemove(simInt floatingViewHandle); |
| simInt simAdjustView(simInt viewHandleOrIndex,simInt associatedViewableObjectHandle,simInt options,const simChar* viewLabel); |
| simInt simSetLastError(const simChar* funcName,const simChar* errorMessage); |
| simInt simHandleGraph(simInt graphHandle,simFloat simulationTime); |
| simInt simResetGraph(simInt graphHandle); |
| simInt simSetNavigationMode(simInt navigationMode); |
| simInt simGetNavigationMode(); |
| simInt simSetPage(simInt index); |
| simInt simGetPage(); |
| simInt simDisplayDialog(const simChar* titleText,const simChar* mainText,simInt dialogType,const simChar* initialText,const simFloat* titleColors,const simFloat* dialogColors,simInt* elementHandle); |
| simInt simGetDialogResult(simInt genericDialogHandle); |
| simChar* simGetDialogInput(simInt genericDialogHandle); |
| simInt simEndDialog(simInt genericDialogHandle); |
| simInt simRegisterScriptCallbackFunction(const simChar* funcNameAtPluginName,const simChar* callTips,simVoid(*callBack)(struct SScriptCallBack* cb)); |
| simInt simRegisterScriptVariable(const simChar* varNameAtPluginName,const simChar* varValue,simInt stackHandle); |
| simInt simSetJointTargetVelocity(simInt objectHandle,simFloat targetVelocity); |
| simInt simGetJointTargetVelocity(simInt objectHandle,simFloat* targetVelocity); |
| simInt simSetPathTargetNominalVelocity(simInt objectHandle,simFloat targetNominalVelocity); |
| simInt simCopyPasteObjects(simInt* objectHandles,simInt objectCount,simInt options); |
| simInt simScaleSelectedObjects(simFloat scalingFactor,simBool scalePositionsToo); |
| simInt simScaleObjects(const simInt* objectHandles,simInt objectCount,simFloat scalingFactor,simBool scalePositionsToo); |
| simInt simDeleteSelectedObjects(); |
| simInt simGetObjectUniqueIdentifier(simInt objectHandle,simInt* uniqueIdentifier); |
| simInt simSendData(simInt targetID,simInt dataHeader,const simChar* dataName,const simChar* data,simInt dataLength,simInt antennaHandle,simFloat actionRadius,simFloat emissionAngle1,simFloat emissionAngle2,simFloat persistence); |
| simChar* simReceiveData(simInt dataHeader,const simChar* dataName,simInt antennaHandle,simInt index,simInt* dataLength,simInt* senderID,simInt* dataHeaderR,simChar** dataNameR); |
| simInt simSetGraphUserData(simInt graphHandle,const simChar* dataStreamName,simFloat data); |
| simInt simAddDrawingObject(simInt objectType,simFloat size,simFloat duplicateTolerance,simInt parentObjectHandle,simInt maxItemCount,const simFloat* ambient_diffuse,const simFloat* setToNULL,const simFloat* specular,const simFloat* emission); |
| simInt simRemoveDrawingObject(simInt objectHandle); |
| simInt simAddDrawingObjectItem(simInt objectHandle,const simFloat* itemData); |
| simInt simAddParticleObject(simInt objectType,simFloat size,simFloat density,const simVoid* params,simFloat lifeTime,simInt maxItemCount,const simFloat* ambient_diffuse,const simFloat* setToNULL,const simFloat* specular,const simFloat* emission); |
| simInt simRemoveParticleObject(simInt objectHandle); |
| simInt simAddParticleObjectItem(simInt objectHandle,const simFloat* itemData); |
| simFloat simGetObjectSizeFactor(simInt objectHandle); |
| simInt simAnnounceSceneContentChange(); |
| simInt simSetIntegerSignal(const simChar* signalName,simInt signalValue); |
| simInt simGetIntegerSignal(const simChar* signalName,simInt* signalValue); |
| simInt simClearIntegerSignal(const simChar* signalName); |
| simInt simSetFloatSignal(const simChar* signalName,simFloat signalValue); |
| simInt simGetFloatSignal(const simChar* signalName,simFloat* signalValue); |
| simInt simClearFloatSignal(const simChar* signalName); |
| simInt simSetDoubleSignal(const simChar* signalName,simDouble signalValue); |
| simInt simGetDoubleSignal(const simChar* signalName,simDouble* signalValue); |
| simInt simClearDoubleSignal(const simChar* signalName); |
| simInt simSetStringSignal(const simChar* signalName,const simChar* signalValue,simInt stringLength); |
| simChar* simGetStringSignal(const simChar* signalName,simInt* stringLength); |
| simInt simClearStringSignal(const simChar* signalName); |
| simChar* simGetSignalName(simInt signalIndex,simInt signalType); |
| simInt simSetObjectProperty(simInt objectHandle,simInt prop); |
| simInt simGetObjectProperty(simInt objectHandle); |
| simInt simSetObjectSpecialProperty(simInt objectHandle,simInt prop); |
| simInt simGetObjectSpecialProperty(simInt objectHandle); |
| simInt simGetPositionOnPath(simInt pathHandle,simFloat relativeDistance,simFloat* position); |
| simInt simGetDataOnPath(simInt pathHandle,simFloat relativeDistance,simInt dataType,simInt* intData,simFloat* floatData); |
| simInt simGetOrientationOnPath(simInt pathHandle,simFloat relativeDistance,simFloat* eulerAngles); |
| simInt simGetClosestPositionOnPath(simInt pathHandle,simFloat* absolutePosition,simFloat* pathPosition); |
| simInt simReadForceSensor(simInt objectHandle,simFloat* forceVector,simFloat* torqueVector); |
| simInt simBreakForceSensor(simInt objectHandle); |
| simInt simGetShapeVertex(simInt shapeHandle,simInt groupElementIndex,simInt vertexIndex,simFloat* relativePosition); |
| simInt simGetShapeTriangle(simInt shapeHandle,simInt groupElementIndex,simInt triangleIndex,simInt* vertexIndices,simFloat* triangleNormals); |
| simInt simSetLightParameters(simInt objectHandle,simInt state,const simFloat* setToNULL,const simFloat* diffusePart,const simFloat* specularPart); |
| simInt simGetLightParameters(simInt objectHandle,simFloat* setToNULL,simFloat* diffusePart,simFloat* specularPart); |
| simInt simGetVelocity(simInt shapeHandle,simFloat* linearVelocity,simFloat* angularVelocity); |
| simInt simGetObjectVelocity(simInt objectHandle,simFloat* linearVelocity,simFloat* angularVelocity); |
| simInt simAddForceAndTorque(simInt shapeHandle,const simFloat* force,const simFloat* torque); |
| simInt simAddForce(simInt shapeHandle,const simFloat* position,const simFloat* force); |
| simInt simSetExplicitHandling(simInt generalObjectHandle,int explicitFlags); |
| simInt simGetExplicitHandling(simInt generalObjectHandle); |
| simInt simGetLinkDummy(simInt dummyHandle); |
| simInt simSetLinkDummy(simInt dummyHandle,simInt linkedDummyHandle); |
| simInt simSetModelProperty(simInt objectHandle,simInt modelProperty); |
| simInt simGetModelProperty(simInt objectHandle); |
| simInt simSetShapeColor(simInt shapeHandle,const simChar* colorName,simInt colorComponent,const simFloat* rgbData); |
| simInt simGetShapeColor(simInt shapeHandle,const simChar* colorName,simInt colorComponent,simFloat* rgbData); |
| simInt simResetDynamicObject(simInt objectHandle); |
| simInt simSetJointMode(simInt jointHandle,simInt jointMode,simInt options); |
| simInt simGetJointMode(simInt jointHandle,simInt* options); |
| simInt simSerialOpen(const simChar* portString,simInt baudRate,simVoid* reserved1,simVoid* reserved2); |
| simInt simSerialClose(simInt portHandle); |
| simInt simSerialSend(simInt portHandle,const simChar* data,simInt dataLength); |
| simInt simSerialRead(simInt portHandle,simChar* buffer,simInt dataLengthToRead); |
| simInt simSerialCheck(simInt portHandle); |
| simInt simGetContactInfo(simInt dynamicPass,simInt objectHandle,simInt index,simInt* objectHandles,simFloat* contactInfo); |
| simInt simSetThreadIsFree(simBool freeMode); |
| simInt simTubeOpen(simInt dataHeader,const simChar* dataName,simInt readBufferSize,simBool notUsedButKeepZero); |
| simInt simTubeClose(simInt tubeHandle); |
| simInt simTubeWrite(simInt tubeHandle,const simChar* data,simInt dataLength); |
| simChar* simTubeRead(simInt tubeHandle,simInt* dataLength); |
| simInt simTubeStatus(simInt tubeHandle,simInt* readPacketsCount,simInt* writePacketsCount); |
| simInt simAuxiliaryConsoleOpen(const simChar* title,simInt maxLines,simInt mode,const simInt* position,const simInt* size,const simFloat* textColor,const simFloat* backgroundColor); |
| simInt simAuxiliaryConsoleClose(simInt consoleHandle); |
| simInt simAuxiliaryConsoleShow(simInt consoleHandle,simBool showState); |
| simInt simAuxiliaryConsolePrint(simInt consoleHandle,const simChar* text); |
| simInt simImportShape(simInt fileformat,const simChar* pathAndFilename,simInt options,simFloat identicalVerticeTolerance,simFloat scalingFactor); |
| simInt simImportMesh(simInt fileformat,const simChar* pathAndFilename,simInt options,simFloat identicalVerticeTolerance,simFloat scalingFactor,simFloat*** vertices,simInt** verticesSizes,simInt*** indices,simInt** indicesSizes,simFloat*** reserved,simChar*** names); |
| simInt simExportMesh(simInt fileformat,const simChar* pathAndFilename,simInt options,simFloat scalingFactor,simInt elementCount,const simFloat** vertices,const simInt* verticesSizes,const simInt** indices,const simInt* indicesSizes,simFloat** reserved,const simChar** names); |
| simInt simCreateMeshShape(simInt options,simFloat shadingAngle,const simFloat* vertices,simInt verticesSize,const simInt* indices,simInt indicesSize,simFloat* reserved); |
| simInt simCreatePureShape(simInt primitiveType,simInt options,const simFloat* sizes,simFloat mass,const simInt* precision); |
| simInt simCreateHeightfieldShape(simInt options,simFloat shadingAngle,simInt xPointCount,simInt yPointCount,simFloat xSize,const simFloat* heights); |
| simInt simGetShapeMesh(simInt shapeHandle,simFloat** vertices,simInt* verticesSize,simInt** indices,simInt* indicesSize,simFloat** normals); |
| simInt simAddBanner(const simChar* label,simFloat size,simInt options,const simFloat* positionAndEulerAngles,simInt parentObjectHandle,const simFloat* labelColors,const simFloat* backgroundColors); |
| simInt simRemoveBanner(simInt bannerID); |
| simInt simCreateJoint(simInt jointType,simInt jointMode,simInt options,const simFloat* sizes,const simFloat* colorA,const simFloat* colorB); |
| simInt simGetObjectIntParameter(simInt objectHandle,simInt parameterID,simInt* parameter); |
| simInt simSetObjectIntParameter(simInt objectHandle,simInt parameterID,simInt parameter); |
| simInt simGetObjectInt32Parameter(simInt objectHandle,simInt parameterID,simInt* parameter); |
| simInt simSetObjectInt32Parameter(simInt objectHandle,simInt parameterID,simInt parameter); |
| simInt simGetObjectFloatParameter(simInt objectHandle,simInt parameterID,simFloat* parameter); |
| simInt simSetObjectFloatParameter(simInt objectHandle,simInt parameterID,simFloat parameter); |
| simChar* simGetObjectStringParameter(simInt objectHandle,simInt parameterID,simInt* parameterLength); |
| simInt simSetObjectStringParameter(simInt objectHandle,simInt parameterID,simChar* parameter,simInt parameterLength); |
| simInt simSetSimulationPassesPerRenderingPass(simInt p); |
| simInt simGetRotationAxis(const simFloat* matrixStart,const simFloat* matrixGoal,simFloat* axis,simFloat* angle); |
| simInt simRotateAroundAxis(const simFloat* matrixIn,const simFloat* axis,const simFloat* axisPos,simFloat angle,simFloat* matrixOut); |
| simInt simGetJointForce(simInt jointHandle,simFloat* forceOrTorque); |
| simInt simGetJointMaxForce(simInt jointHandle,simFloat* forceOrTorque); |
| simInt simSetArrayParameter(simInt parameter,const simVoid* arrayOfValues); |
| simInt simGetArrayParameter(simInt parameter,simVoid* arrayOfValues); |
| simInt simSetIkGroupProperties(simInt ikGroupHandle,simInt resolutionMethod,simInt maxIterations,simFloat damping,void* reserved); |
| simInt simSetIkElementProperties(simInt ikGroupHandle,simInt tipDummyHandle,simInt constraints,const simFloat* precision,const simFloat* weight,void* reserved); |
| simInt simCameraFitToView(simInt viewHandleOrIndex,simInt objectCount,const simInt* objectHandles,simInt options,simFloat scaling); |
| simInt simPersistentDataWrite(const simChar* dataName,const simChar* dataValue,simInt dataLength,simInt options); |
| simChar* simPersistentDataRead(const simChar* dataName,simInt* dataLength); |
| simInt simIsHandleValid(simInt generalObjectHandle,simInt generalObjectType); |
| simInt simHandleVisionSensor(simInt visionSensorHandle,simFloat** auxValues,simInt** auxValuesCount); |
| simInt simReadVisionSensor(simInt visionSensorHandle,simFloat** auxValues,simInt** auxValuesCount); |
| simInt simResetVisionSensor(simInt visionSensorHandle); |
| simInt simCheckVisionSensor(simInt visionSensorHandle,simInt entityHandle,simFloat** auxValues,simInt** auxValuesCount); |
| simFloat* simCheckVisionSensorEx(simInt visionSensorHandle,simInt entityHandle,simBool returnImage); |
| simInt simGetVisionSensorResolution(simInt visionSensorHandle,simInt* resolution); |
| simFloat* simGetVisionSensorImage(simInt visionSensorHandle); |
| simUChar* simGetVisionSensorCharImage(simInt visionSensorHandle,simInt* resolutionX,simInt* resolutionY); |
| simFloat* simGetVisionSensorDepthBuffer(simInt visionSensorHandle); |
| simInt simSetVisionSensorImage(simInt visionSensorHandle,const simFloat* image); |
| simInt simSetVisionSensorCharImage(simInt visionSensorHandle,const simUChar* image); |
| simInt simRMLPosition(simInt dofs,simDouble timeStep,simInt flags,const simDouble* currentPosVelAccel,const simDouble* maxVelAccelJerk,const simBool* selection,const simDouble* targetPosVel,simDouble* newPosVelAccel,simVoid* auxData); |
| simInt simRMLVelocity(simInt dofs,simDouble timeStep,simInt flags,const simDouble* currentPosVelAccel,const simDouble* maxAccelJerk,const simBool* selection,const simDouble* targetVel,simDouble* newPosVelAccel,simVoid* auxData); |
| simInt simRMLPos(simInt dofs,simDouble smallestTimeStep,simInt flags,const simDouble* currentPosVelAccel,const simDouble* maxVelAccelJerk,const simBool* selection,const simDouble* targetPosVel,simVoid* auxData); |
| simInt simRMLVel(simInt dofs,simDouble smallestTimeStep,simInt flags,const simDouble* currentPosVelAccel,const simDouble* maxAccelJerk,const simBool* selection,const simDouble* targetVel,simVoid* auxData); |
| simInt simRMLStep(simInt handle,simDouble timeStep,simDouble* newPosVelAccel,simVoid* auxData,simVoid* reserved); |
| simInt simRMLRemove(simInt handle); |
| simChar* simFileDialog(simInt mode,const simChar* title,const simChar* startPath,const simChar* initName,const simChar* extName,const simChar* ext); |
| simInt simMsgBox(simInt dlgType,simInt buttons,const simChar* title,const simChar* message); |
| simInt simCreateDummy(simFloat size,const simFloat* color); |
| simInt simSetShapeMassAndInertia(simInt shapeHandle,simFloat mass,const simFloat* inertiaMatrix,const simFloat* centerOfMass,const simFloat* transformation); |
| simInt simGetShapeMassAndInertia(simInt shapeHandle,simFloat* mass,simFloat* inertiaMatrix,simFloat* centerOfMass,const simFloat* transformation); |
| simInt simGroupShapes(const simInt* shapeHandles,simInt shapeCount); |
| simInt* simUngroupShape(simInt shapeHandle,simInt* shapeCount); |
| simInt simCreateProximitySensor(simInt sensorType,simInt subType,simInt options,const simInt* intParams,const simFloat* floatParams,const simFloat* color); |
| simInt simCreateForceSensor(simInt options,const simInt* intParams,const simFloat* floatParams,const simFloat* color); |
| simInt simCreateVisionSensor(simInt options,const simInt* intParams,const simFloat* floatParams,const simFloat* color); |
| simInt simConvexDecompose(simInt shapeHandle,simInt options,const simInt* intParams,const simFloat* floatParams); |
| simInt simCreatePath(simInt attributes,const simInt* intParams,const simFloat* floatParams,const simFloat* color); |
| simInt simInsertPathCtrlPoints(simInt pathHandle,simInt options,simInt startIndex,simInt ptCnt,const simVoid* ptData); |
| simInt simCutPathCtrlPoints(simInt pathHandle,simInt startIndex,simInt ptCnt); |
| simFloat* simGetIkGroupMatrix(simInt ikGroupHandle,simInt options,simInt* matrixSize); |
| simInt simAddGhost(simInt ghostGroup,simInt objectHandle,simInt options,simFloat startTime,simFloat endTime,const simFloat* color); |
| simInt simModifyGhost(simInt ghostGroup,simInt ghostId,simInt operation,simFloat floatValue,simInt options,simInt optionsMask,const simFloat* colorOrTransformation); |
| simVoid simQuitSimulator(simBool ignoredArgument); |
| simInt simGetThreadId(); |
| simInt simLockResources(simInt lockType,simInt reserved); |
| simInt simUnlockResources(simInt lockHandle); |
| simInt simEnableEventCallback(simInt eventCallbackType,const simChar* plugin,simInt reserved); |
| simInt simSetShapeMaterial(simInt shapeHandle,simInt materialIdOrShapeHandle); |
| simInt simGetTextureId(const simChar* textureName,simInt* resolution); |
| simChar* simReadTexture(simInt textureId,simInt options,simInt posX,simInt posY,simInt sizeX,simInt sizeY); |
| simInt simWriteTexture(simInt textureId,simInt options,const simChar* data,simInt posX,simInt posY,simInt sizeX,simInt sizeY,simFloat interpol); |
| simInt simCreateTexture(const simChar* fileName,simInt options,const simFloat* planeSizes,const simFloat* scalingUV,const simFloat* xy_g,simInt fixedResolution,simInt* textureId,simInt* resolution,const simVoid* reserved); |
| simInt simWriteCustomDataBlock(simInt objectHandle,const simChar* tagName,const simChar* data,simInt dataSize); |
| simChar* simReadCustomDataBlock(simInt objectHandle,const simChar* tagName,simInt* dataSize); |
| simChar* simReadCustomDataBlockTags(simInt objectHandle,simInt* tagCount); |
| simInt simAddPointCloud(simInt pageMask,simInt layerMask,simInt objectHandle,simInt options,simFloat pointSize,simInt ptCnt,const simFloat* pointCoordinates,const simChar* defaultColors,const simChar* pointColors,const simFloat* pointNormals); |
| simInt simModifyPointCloud(simInt pointCloudHandle,simInt operation,const simInt* intParam,const simFloat* floatParam); |
| simInt simGetShapeGeomInfo(simInt shapeHandle,simInt* intData,simFloat* floatData,simVoid* reserved); |
| simInt* simGetObjectsInTree(simInt treeBaseHandle,simInt objectType,simInt options,simInt* objectCount); |
| simInt simSetObjectSizeValues(simInt objectHandle,const simFloat* sizeValues); |
| simInt simGetObjectSizeValues(simInt objectHandle,simFloat* sizeValues); |
| simInt simScaleObject(simInt objectHandle,simFloat xScale,simFloat yScale,simFloat zScale,simInt options); |
| simInt simSetShapeTexture(simInt shapeHandle,simInt textureId,simInt mappingMode,simInt options,const simFloat* uvScaling,const simFloat* position,const simFloat* orientation); |
| simInt simGetShapeTextureId(simInt shapeHandle); |
| simInt* simGetCollectionObjects(simInt collectionHandle,simInt* objectCount); |
| simInt simSetScriptAttribute(simInt scriptHandle,simInt attributeID,simFloat floatVal,simInt intOrBoolVal); |
| simInt simGetScriptAttribute(simInt scriptHandle,simInt attributeID,simFloat* floatVal,simInt* intOrBoolVal); |
| simInt simReorientShapeBoundingBox(simInt shapeHandle,simInt relativeToHandle,simInt reservedSetToZero); |
| simInt simSwitchThread(); |
| simInt simCreateIkGroup(simInt options,const simInt* intParams,const simFloat* floatParams,const simVoid* reserved); |
| simInt simRemoveIkGroup(simInt ikGroupHandle); |
| simInt simCreateIkElement(simInt ikGroupHandle,simInt options,const simInt* intParams,const simFloat* floatParams,const simVoid* reserved); |
| simInt simCreateCollection(const simChar* collectionName,simInt options); |
| simInt simAddObjectToCollection(simInt collectionHandle,simInt objectHandle,simInt what,simInt options); |
| simInt simSaveImage(const simUChar* image,const simInt* resolution,simInt options,const simChar* filename,simInt quality,simVoid* reserved); |
| simUChar* simLoadImage(simInt* resolution,simInt options,const simChar* filename,simVoid* reserved); |
| simUChar* simGetScaledImage(const simUChar* imageIn,const simInt* resolutionIn,simInt* resolutionOut,simInt options,simVoid* reserved); |
| simInt simTransformImage(simUChar* image,const simInt* resolution,simInt options,const simFloat* floatParams,const simInt* intParams,simVoid* reserved); |
| simInt simGetQHull(const simFloat* inVertices,simInt inVerticesL,simFloat** verticesOut,simInt* verticesOutL,simInt** indicesOut,simInt* indicesOutL,simInt reserved1,const simFloat* reserved2); |
| simInt simGetDecimatedMesh(const simFloat* inVertices,simInt inVerticesL,const simInt* inIndices,simInt inIndicesL,simFloat** verticesOut,simInt* verticesOutL,simInt** indicesOut,simInt* indicesOutL,simFloat decimationPercent,simInt reserved1,const simFloat* reserved2); |
| simInt simExportIk(const simChar* pathAndFilename,simInt reserved1,simVoid* reserved2); |
| simInt simCallScriptFunctionEx(simInt scriptHandleOrType,const simChar* functionNameAtScriptName,simInt stackId); |
| simInt simComputeJacobian(simInt ikGroupHandle,simInt options,simVoid* reserved); |
| simInt simGetConfigForTipPose(simInt ikGroupHandle,simInt jointCnt,const simInt* jointHandles,simFloat thresholdDist,simInt maxTimeInMs,simFloat* retConfig,const simFloat* metric,simInt collisionPairCnt,const simInt* collisionPairs,const simInt* jointOptions,const simFloat* lowLimits,const simFloat* ranges,simVoid* reserved); |
| simFloat* simGenerateIkPath(simInt ikGroupHandle,simInt jointCnt,const simInt* jointHandles,simInt ptCnt,simInt collisionPairCnt,const simInt* collisionPairs,const simInt* jointOptions,simVoid* reserved); |
| simChar* simGetExtensionString(simInt objectHandle,simInt index,const char* key); |
| simInt simComputeMassAndInertia(simInt shapeHandle,simFloat density); |
| simInt simCreateStack(); |
| simInt simReleaseStack(simInt stackHandle); |
| simInt simCopyStack(simInt stackHandle); |
| simInt simPushNullOntoStack(simInt stackHandle); |
| simInt simPushBoolOntoStack(simInt stackHandle,simBool value); |
| simInt simPushInt32OntoStack(simInt stackHandle,simInt value); |
| simInt simPushFloatOntoStack(simInt stackHandle,simFloat value); |
| simInt simPushDoubleOntoStack(simInt stackHandle,simDouble value); |
| simInt simPushStringOntoStack(simInt stackHandle,const simChar* value,simInt stringSize); |
| simInt simPushUInt8TableOntoStack(simInt stackHandle,const simUChar* values,simInt valueCnt); |
| simInt simPushInt32TableOntoStack(simInt stackHandle,const simInt* values,simInt valueCnt); |
| simInt simPushFloatTableOntoStack(simInt stackHandle,const simFloat* values,simInt valueCnt); |
| simInt simPushDoubleTableOntoStack(simInt stackHandle,const simDouble* values,simInt valueCnt); |
| simInt simPushTableOntoStack(simInt stackHandle); |
| simInt simInsertDataIntoStackTable(simInt stackHandle); |
| simInt simGetStackSize(simInt stackHandle); |
| simInt simPopStackItem(simInt stackHandle,simInt count); |
| simInt simMoveStackItemToTop(simInt stackHandle,simInt cIndex); |
| simInt simIsStackValueNull(simInt stackHandle); |
| simInt simGetStackBoolValue(simInt stackHandle,simBool* boolValue); |
| simInt simGetStackInt32Value(simInt stackHandle,simInt* numberValue); |
| simInt simGetStackFloatValue(simInt stackHandle,simFloat* numberValue); |
| simInt simGetStackDoubleValue(simInt stackHandle,simDouble* numberValue); |
| simChar* simGetStackStringValue(simInt stackHandle,simInt* stringSize); |
| simInt simGetStackTableInfo(simInt stackHandle,simInt infoType); |
| simInt simGetStackUInt8Table(simInt stackHandle,simUChar* array,simInt count); |
| simInt simGetStackInt32Table(simInt stackHandle,simInt* array,simInt count); |
| simInt simGetStackFloatTable(simInt stackHandle,simFloat* array,simInt count); |
| simInt simGetStackDoubleTable(simInt stackHandle,simDouble* array,simInt count); |
| simInt simUnfoldStackTable(simInt stackHandle); |
| simInt simDebugStack(simInt stackHandle,simInt cIndex); |
| simInt simSetScriptVariable(simInt scriptHandleOrType,const simChar* variableNameAtScriptName,simInt stackHandle); |
| simFloat simGetEngineFloatParameter(simInt paramId,simInt objectHandle,const simVoid* object,simBool* ok); |
| simInt simGetEngineInt32Parameter(simInt paramId,simInt objectHandle,const simVoid* object,simBool* ok); |
| simBool simGetEngineBoolParameter(simInt paramId,simInt objectHandle,const simVoid* object,simBool* ok); |
| simInt simSetEngineFloatParameter(simInt paramId,simInt objectHandle,const simVoid* object,simFloat val); |
| simInt simSetEngineInt32Parameter(simInt paramId,simInt objectHandle,const simVoid* object,simInt val); |
| simInt simSetEngineBoolParameter(simInt paramId,simInt objectHandle,const simVoid* object,simBool val); |
| simInt simCreateOctree(simFloat voxelSize,simInt options,simFloat pointSize,simVoid* reserved); |
| simInt simCreatePointCloud(simFloat maxVoxelSize,simInt maxPtCntPerVoxel,simInt options,simFloat pointSize,simVoid* reserved); |
| simInt simSetPointCloudOptions(simInt pointCloudHandle,simFloat maxVoxelSize,simInt maxPtCntPerVoxel,simInt options,simFloat pointSize,simVoid* reserved); |
| simInt simGetPointCloudOptions(simInt pointCloudHandle,simFloat* maxVoxelSize,simInt* maxPtCntPerVoxel,simInt* options,simFloat* pointSize,simVoid* reserved); |
| simInt simInsertVoxelsIntoOctree(simInt octreeHandle,simInt options,const simFloat* pts,simInt ptCnt,const simUChar* color,const simUInt* tag,simVoid* reserved); |
| simInt simRemoveVoxelsFromOctree(simInt octreeHandle,simInt options,const simFloat* pts,simInt ptCnt,simVoid* reserved); |
| simInt simInsertPointsIntoPointCloud(simInt pointCloudHandle,simInt options,const simFloat* pts,simInt ptCnt,const simUChar* color,simVoid* optionalValues); |
| simInt simRemovePointsFromPointCloud(simInt pointCloudHandle,simInt options,const simFloat* pts,simInt ptCnt,simFloat tolerance,simVoid* reserved); |
| simInt simIntersectPointsWithPointCloud(simInt pointCloudHandle,simInt options,const simFloat* pts,simInt ptCnt,simFloat tolerance,simVoid* reserved); |
| const float* simGetOctreeVoxels(simInt octreeHandle,simInt* ptCnt,simVoid* reserved); |
| const float* simGetPointCloudPoints(simInt pointCloudHandle,simInt* ptCnt,simVoid* reserved); |
| simInt simInsertObjectIntoOctree(simInt octreeHandle,simInt objectHandle,simInt options,const simUChar* color,simUInt tag,simVoid* reserved); |
| simInt simSubtractObjectFromOctree(simInt octreeHandle,simInt objectHandle,simInt options,simVoid* reserved); |
| simInt simInsertObjectIntoPointCloud(simInt pointCloudHandle,simInt objectHandle,simInt options,simFloat gridSize,const simUChar* color,simVoid* optionalValues); |
| simInt simSubtractObjectFromPointCloud(simInt pointCloudHandle,simInt objectHandle,simInt options,simFloat tolerance,simVoid* reserved); |
| simInt simCheckOctreePointOccupancy(simInt octreeHandle,simInt options,const simFloat* points,simInt ptCnt,simUInt* tag,simUInt64* location,simVoid* reserved); |
| simChar* simOpenTextEditor(const simChar* initText,const simChar* xml,simInt* various); |
| simChar* simPackTable(simInt stackHandle,simInt* bufferSize); |
| simInt simUnpackTable(simInt stackHandle,const simChar* buffer,simInt bufferSize); |
| simInt simSetReferencedHandles(simInt objectHandle,simInt count,const simInt* referencedHandles,const simInt* reserved1,const simInt* reserved2); |
| simInt simGetReferencedHandles(simInt objectHandle,simInt** referencedHandles,simInt** reserved1,simInt** reserved2); |
| simInt simGetShapeViz(simInt shapeHandle,simInt index,struct SShapeVizInfo* info); |
| simInt simExecuteScriptString(simInt scriptHandleOrType,const simChar* stringAtScriptName,simInt stackHandle); |
| simChar* simGetApiFunc(simInt scriptHandleOrType,const simChar* apiWord); |
| simChar* simGetApiInfo(simInt scriptHandleOrType,const simChar* apiWord); |
| simInt simSetModuleInfo(const simChar* moduleName,simInt infoType,const simChar* stringInfo,simInt intInfo); |
| simInt simGetModuleInfo(const simChar* moduleName,simInt infoType,simChar** stringInfo,simInt* intInfo); |
| simInt simIsDeprecated(const simChar* funcOrConst); |
| simChar* simGetPersistentDataTags(simInt* tagCount); |
| simInt simEventNotification(const simChar* event); |
| simInt simApplyTexture(simInt shapeHandle,const simFloat* textureCoordinates,simInt textCoordSize,const simUChar* texture,const simInt* textureResolution,simInt options); |
| simInt simSetJointDependency(simInt jointHandle,simInt masterJointHandle,simFloat offset,simFloat coeff); |
| simInt simSetStringNamedParam(const simChar* paramName,const simChar* stringParam,simInt paramLength); |
| simChar* simGetStringNamedParam(const simChar* paramName,simInt* paramLength); |
| simChar* simGetUserParameter(simInt objectHandle,const simChar* parameterName,simInt* parameterLength); |
| simInt simSetUserParameter(simInt objectHandle,const simChar* parameterName,const simChar* parameterValue,simInt parameterLength); |
| simInt simAddLog(const simChar* pluginName,simInt verbosityLevel,const simChar* logMsg); |
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| simInt _simGetContactCallbackCount(); |
| const void* _simGetContactCallback(simInt index); |
| simVoid _simSetDynamicSimulationIconCode(simVoid* object,simInt code); |
| simVoid _simSetDynamicObjectFlagForVisualization(simVoid* object,simInt flag); |
| simInt _simGetObjectListSize(simInt objType); |
| const simVoid* _simGetObjectFromIndex(simInt objType,simInt index); |
| simInt _simGetObjectID(const simVoid* object); |
| simInt _simGetObjectType(const simVoid* object); |
| const simVoid** _simGetObjectChildren(const simVoid* object,simInt* count); |
| const simVoid* _simGetGeomProxyFromShape(const simVoid* shape); |
| const simVoid* _simGetParentObject(const simVoid* object); |
| const simVoid* _simGetObject(int objID); |
| simVoid _simGetObjectLocalTransformation(const simVoid* object,simFloat* pos,simFloat* quat,simBool excludeFirstJointTransformation); |
| simVoid _simSetObjectLocalTransformation(simVoid* object,const simFloat* pos,const simFloat* quat); |
| simVoid _simSetObjectCumulativeTransformation(simVoid* object,const simFloat* pos,const simFloat* quat,simBool keepChildrenInPlace); |
| simVoid _simGetObjectCumulativeTransformation(const simVoid* object,simFloat* pos,simFloat* quat,simBool excludeFirstJointTransformation); |
| simBool _simIsShapeDynamicallyStatic(const simVoid* shape); |
| simInt _simGetTreeDynamicProperty(const simVoid* object); |
| simInt _simGetDummyLinkType(const simVoid* dummy,simInt* linkedDummyID); |
| simInt _simGetJointMode(const simVoid* joint); |
| simBool _simIsJointInHybridOperation(const simVoid* joint); |
| simVoid _simDisableDynamicTreeForManipulation(const simVoid* object,simBool disableFlag); |
| simBool _simIsShapeDynamicallyRespondable(const simVoid* shape); |
| simInt _simGetDynamicCollisionMask(const simVoid* shape); |
| const simVoid* _simGetLastParentForLocalGlobalCollidable(const simVoid* shape); |
| simVoid _simSetShapeIsStaticAndNotRespondableButDynamicTag(const simVoid* shape,simBool tag); |
| simBool _simGetShapeIsStaticAndNotRespondableButDynamicTag(const simVoid* shape); |
| simVoid _simSetJointPosition(const simVoid* joint,simFloat pos); |
| simFloat _simGetJointPosition(const simVoid* joint); |
| simVoid _simSetDynamicMotorPositionControlTargetPosition(const simVoid* joint,simFloat pos); |
| simVoid _simGetInitialDynamicVelocity(const simVoid* shape,simFloat* vel); |
| simVoid _simSetInitialDynamicVelocity(simVoid* shape,const simFloat* vel); |
| simVoid _simGetInitialDynamicAngVelocity(const simVoid* shape,simFloat* angularVel); |
| simVoid _simSetInitialDynamicAngVelocity(simVoid* shape,const simFloat* angularVel); |
| simBool _simGetStartSleeping(const simVoid* shape); |
| simBool _simGetWasPutToSleepOnce(const simVoid* shape); |
| simBool _simGetDynamicsFullRefreshFlag(const simVoid* object); |
| simVoid _simSetDynamicsFullRefreshFlag(const simVoid* object,simBool flag); |
| simVoid _simSetGeomProxyDynamicsFullRefreshFlag(simVoid* geomData,simBool flag); |
| simBool _simGetGeomProxyDynamicsFullRefreshFlag(const simVoid* geomData); |
| simVoid _simSetShapeDynamicVelocity(simVoid* shape,const simFloat* linear,const simFloat* angular); |
| simVoid _simGetAdditionalForceAndTorque(const simVoid* shape,simFloat* force,simFloat* torque); |
| simVoid _simClearAdditionalForceAndTorque(const simVoid* shape); |
| simBool _simGetJointPositionInterval(const simVoid* joint,simFloat* minValue,simFloat* rangeValue); |
| simInt _simGetJointType(const simVoid* joint); |
| simBool _simIsForceSensorBroken(const simVoid* forceSensor); |
| simVoid _simGetDynamicForceSensorLocalTransformationPart2(const simVoid* forceSensor,simFloat* pos,simFloat* quat); |
| simBool _simIsDynamicMotorEnabled(const simVoid* joint); |
| simBool _simIsDynamicMotorPositionCtrlEnabled(const simVoid* joint); |
| simBool _simIsDynamicMotorTorqueModulationEnabled(const simVoid* joint); |
| simVoid _simGetMotorPid(const simVoid* joint,simFloat* pParam,simFloat* iParam,simFloat* dParam); |
| simFloat _simGetDynamicMotorTargetPosition(const simVoid* joint); |
| simFloat _simGetDynamicMotorTargetVelocity(const simVoid* joint); |
| simFloat _simGetDynamicMotorMaxForce(const simVoid* joint); |
| simFloat _simGetDynamicMotorUpperLimitVelocity(const simVoid* joint); |
| simVoid _simSetDynamicMotorReflectedPositionFromDynamicEngine(simVoid* joint,simFloat pos); |
| simVoid _simSetJointSphericalTransformation(simVoid* joint,const simFloat* quat); |
| simVoid _simAddForceSensorCumulativeForcesAndTorques(simVoid* forceSensor,const simFloat* force,const simFloat* torque,int totalPassesCount); |
| simVoid _simAddJointCumulativeForcesOrTorques(simVoid* joint,simFloat forceOrTorque,int totalPassesCount); |
| simVoid _simSetDynamicJointLocalTransformationPart2(simVoid* joint,const simFloat* pos,const simFloat* quat); |
| simVoid _simSetDynamicForceSensorLocalTransformationPart2(simVoid* forceSensor,const simFloat* pos,const simFloat* quat); |
| simVoid _simSetDynamicJointLocalTransformationPart2IsValid(simVoid* joint,simBool valid); |
| simVoid _simSetDynamicForceSensorLocalTransformationPart2IsValid(simVoid* forceSensor,simBool valid); |
| const simVoid* _simGetGeomWrapFromGeomProxy(const simVoid* geomData); |
| simVoid _simGetLocalInertiaFrame(const simVoid* geomInfo,simFloat* pos,simFloat* quat); |
| simInt _simGetPurePrimitiveType(const simVoid* geomInfo); |
| simBool _simIsGeomWrapGeometric(const simVoid* geomInfo); |
| simBool _simIsGeomWrapConvex(const simVoid* geomInfo); |
| simInt _simGetGeometricCount(const simVoid* geomInfo); |
| simVoid _simGetAllGeometrics(const simVoid* geomInfo,simVoid** allGeometrics); |
| simVoid _simGetPurePrimitiveSizes(const simVoid* geometric,simFloat* sizes); |
| simVoid _simMakeDynamicAnnouncement(int announceType); |
| simVoid _simGetVerticesLocalFrame(const simVoid* geometric,simFloat* pos,simFloat* quat); |
| const simFloat* _simGetHeightfieldData(const simVoid* geometric,simInt* xCount,simInt* yCount,simFloat* minHeight,simFloat* maxHeight); |
| simVoid _simGetCumulativeMeshes(const simVoid* geomInfo,simFloat** vertices,simInt* verticesSize,simInt** indices,simInt* indicesSize); |
| simFloat _simGetMass(const simVoid* geomInfo); |
| simVoid _simGetPrincipalMomentOfInertia(const simVoid* geomInfo,simFloat* inertia); |
| simVoid _simGetGravity(simFloat* gravity); |
| simInt _simGetTimeDiffInMs(simInt previousTime); |
| simBool _simDoEntitiesCollide(simInt entity1ID,simInt entity2ID,simInt* cacheBuffer,simBool overrideCollidableFlagIfShape1,simBool overrideCollidableFlagIfShape2,simBool pathOrMotionPlanningRoutineCalling); |
| simBool _simGetDistanceBetweenEntitiesIfSmaller(simInt entity1ID,simInt entity2ID,simFloat* distance,simFloat* ray,simInt* cacheBuffer,simBool overrideMeasurableFlagIfNonCollection1,simBool overrideMeasurableFlagIfNonCollection2,simBool pathPlanningRoutineCalling); |
| simInt _simHandleJointControl(const simVoid* joint,simInt auxV,const simInt* inputValuesInt,const simFloat* inputValuesFloat,simFloat* outputValues); |
| simInt _simHandleCustomContact(simInt objHandle1,simInt objHandle2,simInt engine,simInt* dataInt,simFloat* dataFloat); |
| const simVoid* _simGetIkGroupObject(int ikGroupID); |
| simInt _simMpHandleIkGroupObject(const simVoid* ikGroup); |
| simFloat _simGetPureHollowScaling(const simVoid* geometric); |
| simInt _simGetJointCallbackCallOrder(const simVoid* joint); |
| simVoid _simDynCallback(const simInt* intData,const simFloat* floatData); |
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| simInt simExtLaunchUIThread(const simChar* applicationName,simInt options,const simChar* sceneOrModelOrUiToLoad,const simChar* applicationDir_); |
| simInt simExtCanInitSimThread(); |
| simInt simExtSimThreadInit(); |
| simInt simExtSimThreadDestroy(); |
| simInt simExtPostExitRequest(); |
| simInt simExtGetExitRequest(); |
| simInt simExtStep(simBool stepIfRunning); |
| simInt simExtCallScriptFunction(simInt scriptHandleOrType, const simChar* functionNameAtScriptName, |
| const simInt* inIntData, simInt inIntCnt, |
| const simFloat* inFloatData, simInt inFloatCnt, |
| const simChar** inStringData, simInt inStringCnt, |
| const simChar* inBufferData, simInt inBufferCnt, |
| simInt** outIntData, simInt* outIntCnt, |
| simFloat** outFloatData, simInt* outFloatCnt, |
| simChar*** outStringData, simInt* outStringCnt, |
| simChar** outBufferData, simInt* outBufferSize); |
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| simInt simGetMaterialId(const simChar* materialName); |
| simInt simGetShapeMaterial(simInt shapeHandle); |
| simInt simHandleVarious(); |
| simInt simSerialPortOpen(simInt portNumber,simInt baudRate,simVoid* reserved1,simVoid* reserved2); |
| simInt simSerialPortClose(simInt portNumber); |
| simInt simSerialPortSend(simInt portNumber,const simChar* data,simInt dataLength); |
| simInt simSerialPortRead(simInt portNumber,simChar* buffer,simInt dataLengthToRead); |
| simInt simJointGetForce(simInt jointHandle,simFloat* forceOrTorque); |
| simInt simGetPathPlanningHandle(const simChar* pathPlanningObjectName); |
| simInt simGetMotionPlanningHandle(const simChar* motionPlanningObjectName); |
| simInt simGetMpConfigForTipPose(simInt motionPlanningObjectHandle,simInt options,simFloat closeNodesDistance,simInt trialCount,const simFloat* tipPose,simInt maxTimeInMs,simFloat* outputJointPositions,const simFloat* referenceConfigs,simInt referenceConfigCount,const simFloat* jointWeights,const simInt* jointBehaviour,simInt correctionPasses); |
| simFloat* simFindMpPath(simInt motionPlanningObjectHandle,const simFloat* startConfig,const simFloat* goalConfig,simInt options,simFloat stepSize,simInt* outputConfigsCnt,simInt maxTimeInMs,simFloat* reserved,const simInt* auxIntParams,const simFloat* auxFloatParams); |
| simFloat* simSimplifyMpPath(simInt motionPlanningObjectHandle,const simFloat* pathBuffer,simInt configCnt,simInt options,simFloat stepSize,simInt increment,simInt* outputConfigsCnt,simInt maxTimeInMs,simFloat* reserved,const simInt* auxIntParams,const simFloat* auxFloatParams); |
| simFloat* simFindIkPath(simInt motionPlanningObjectHandle,const simFloat* startConfig,const simFloat* goalPose,simInt options,simFloat stepSize,simInt* outputConfigsCnt,simFloat* reserved,const simInt* auxIntParams,const simFloat* auxFloatParams); |
| simFloat* simGetMpConfigTransition(simInt motionPlanningObjectHandle,const simFloat* startConfig,const simFloat* goalConfig,simInt options,const simInt* select,simFloat calcStepSize,simFloat maxOutStepSize,simInt wayPointCnt,const simFloat* wayPoints,simInt* outputConfigsCnt,const simInt* auxIntParams,const simFloat* auxFloatParams); |
| simInt simCreateMotionPlanning(simInt jointCnt,const simInt* jointHandles,const simInt* jointRangeSubdivisions,const simFloat* jointMetricWeights,simInt options,const simInt* intParams,const simFloat* floatParams,const simVoid* reserved); |
| simInt simRemoveMotionPlanning(simInt motionPlanningHandle); |
| simInt simSearchPath(simInt pathPlanningObjectHandle,simFloat maximumSearchTime); |
| simInt simInitializePathSearch(simInt pathPlanningObjectHandle,simFloat maximumSearchTime,simFloat searchTimeStep); |
| simInt simPerformPathSearchStep(simInt temporaryPathSearchObject,simBool abortSearch); |
| simInt simLockInterface(simBool locked); |
| simInt simCopyPasteSelectedObjects(); |
| simInt simResetPath(simInt pathHandle); |
| simInt simHandlePath(simInt pathHandle,simFloat deltaTime); |
| simInt simResetJoint(simInt jointHandle); |
| simInt simHandleJoint(simInt jointHandle,simFloat deltaTime); |
| simInt simAppendScriptArrayEntry(const simChar* reservedSetToNull,simInt scriptHandleOrType,const simChar* arrayNameAtScriptName,const simChar* keyName,const simChar* data,const simInt* what); |
| simInt simClearScriptVariable(const simChar* reservedSetToNull,simInt scriptHandleOrType,const simChar* variableNameAtScriptName); |
| simVoid _simGetJointOdeParameters(const simVoid* joint,simFloat* stopERP,simFloat* stopCFM,simFloat* bounce,simFloat* fudge,simFloat* normalCFM); |
| simVoid _simGetJointBulletParameters(const simVoid* joint,simFloat* stopERP,simFloat* stopCFM,simFloat* normalCFM); |
| simVoid _simGetOdeMaxContactFrictionCFMandERP(const simVoid* geomInfo,simInt* maxContacts,simFloat* friction,simFloat* cfm,simFloat* erp); |
| simBool _simGetBulletCollisionMargin(const simVoid* geomInfo,simFloat* margin,simInt* otherProp); |
| simBool _simGetBulletStickyContact(const simVoid* geomInfo); |
| simFloat _simGetBulletRestitution(const simVoid* geomInfo); |
| simVoid _simGetVortexParameters(const simVoid* object,simInt version,simFloat* floatParams,simInt* intParams); |
| simVoid _simGetNewtonParameters(const simVoid* object,simInt* version,simFloat* floatParams,simInt* intParams); |
| simVoid _simGetDamping(const simVoid* geomInfo,simFloat* linDamping,simFloat* angDamping); |
| simFloat _simGetFriction(const simVoid* geomInfo); |
| simInt simAddSceneCustomData(simInt header,const simChar* data,simInt dataLength); |
| simInt simGetSceneCustomDataLength(simInt header); |
| simInt simGetSceneCustomData(simInt header,simChar* data); |
| simInt simAddObjectCustomData(simInt objectHandle,simInt header,const simChar* data,simInt dataLength); |
| simInt simGetObjectCustomDataLength(simInt objectHandle,simInt header); |
| simInt simGetObjectCustomData(simInt objectHandle,simInt header,simChar* data); |
| simInt simCreateUI(const simChar* uiName,simInt menuAttributes,const simInt* clientSize,const simInt* cellSize,simInt* buttonHandles); |
| simInt simCreateUIButton(simInt uiHandle,const simInt* position,const simInt* size,simInt buttonProperty); |
| simInt simGetUIHandle(const simChar* uiName); |
| simInt simGetUIProperty(simInt uiHandle); |
| simInt simGetUIEventButton(simInt uiHandle,simInt* auxiliaryValues); |
| simInt simSetUIProperty(simInt uiHandle,simInt elementProperty); |
| simInt simGetUIButtonProperty(simInt uiHandle,simInt buttonHandle); |
| simInt simSetUIButtonProperty(simInt uiHandle,simInt buttonHandle,simInt buttonProperty); |
| simInt simGetUIButtonSize(simInt uiHandle,simInt buttonHandle,simInt* size); |
| simInt simSetUIButtonLabel(simInt uiHandle,simInt buttonHandle,const simChar* upStateLabel,const simChar* downStateLabel); |
| simChar* simGetUIButtonLabel(simInt uiHandle,simInt buttonHandle); |
| simInt simSetUISlider(simInt uiHandle,simInt buttonHandle,simInt position); |
| simInt simGetUISlider(simInt uiHandle,simInt buttonHandle); |
| simInt simSetUIButtonColor(simInt uiHandle,simInt buttonHandle,const simFloat* upStateColor,const simFloat* downStateColor,const simFloat* labelColor); |
| simInt simSetUIButtonTexture(simInt uiHandle,simInt buttonHandle,const simInt* size,const simChar* textureData); |
| simInt simCreateUIButtonArray(simInt uiHandle,simInt buttonHandle); |
| simInt simSetUIButtonArrayColor(simInt uiHandle,simInt buttonHandle,const simInt* position,const simFloat* color); |
| simInt simDeleteUIButtonArray(simInt uiHandle,simInt buttonHandle); |
| simInt simRemoveUI(simInt uiHandle); |
| simInt simSetUIPosition(simInt uiHandle,const simInt* position); |
| simInt simGetUIPosition(simInt uiHandle,simInt* position); |
| simInt simLoadUI(const simChar* filename,simInt maxCount,simInt* uiHandles); |
| simInt simSaveUI(simInt count,const simInt* uiHandles,const simChar* filename); |
| simInt simHandleGeneralCallbackScript(simInt callbackId,simInt callbackTag,simVoid* additionalData); |
| simInt simRegisterCustomLuaFunction(const simChar* funcName,const simChar* callTips,const simInt* inputArgumentTypes,simVoid(*callBack)(struct SLuaCallBack* p)); |
| simInt simRegisterCustomLuaVariable(const simChar* varName,const simChar* varValue); |
| simInt simRegisterContactCallback(simInt(*callBack)(simInt,simInt,simInt,simInt*,simFloat*)); |
| simInt simRegisterJointCtrlCallback(simInt(*callBack)(simInt,simInt,simInt,const simInt*,const simFloat*,simFloat*)); |
| simInt simGetMechanismHandle(const simChar* mechanismName); |
| simInt simHandleMechanism(simInt mechanismHandle); |
| simInt simHandleCustomizationScripts(simInt callType); |
| simInt simSetVisionSensorFilter(simInt visionSensorHandle,simInt filterIndex,simInt options,const simInt* pSizes,const simUChar* bytes,const simInt* ints,const simFloat* floats,const simUChar* custom); |
| simInt simGetVisionSensorFilter(simInt visionSensorHandle,simInt filterIndex,simInt* options,simInt* pSizes,simUChar** bytes,simInt** ints,simFloat** floats,simUChar** custom); |
| simChar* simGetScriptSimulationParameter(simInt scriptHandle,const simChar* parameterName,simInt* parameterLength); |
| simInt simSetScriptSimulationParameter(simInt scriptHandle,const simChar* parameterName,const simChar* parameterValue,simInt parameterLength); |
| simInt simSetJointForce(simInt objectHandle,simFloat forceOrTorque); |
| simInt simHandleMill(simInt millHandle,simFloat* removedSurfaceAndVolume); |
| simInt simResetMill(simInt millHandle); |
| simInt simResetMilling(simInt objectHandle); |
| simInt simApplyMilling(simInt objectHandle); |
| simBool _simGetParentFollowsDynamic(const simVoid* shape); |
| simInt simGetNameSuffix(const simChar* name); |
| simInt simSetNameSuffix(simInt nameSuffixNumber); |
| simInt simAddStatusbarMessage(const simChar* message); |
| simChar* simGetScriptRawBuffer(simInt scriptHandle,simInt bufferHandle); |
| simInt simSetScriptRawBuffer(simInt scriptHandle,const simChar* buffer,simInt bufferSize); |
| simInt simReleaseScriptRawBuffer(simInt scriptHandle,simInt bufferHandle); |
| |
