// ============== // simTypes.h // ============== // Various types used in the interface functions: 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; 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; /*rgba*/ simInt textureId; simInt textureRes[2]; simFloat* textureCoords; simInt textureApplyMode; simInt textureOptions; /* not just textures options */ }; 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; }; struct SSyncMsg { unsigned char msg; void* data; size_t dataSize; }; struct SSyncRt { unsigned char objTypes[3]; int objHandles[3]; }; typedef int (*contactCallback)(int,int,int,int*,float*); typedef int (*jointCtrlCallback)(int,int,int,const int*,const float*,float*); // ============== // sim.h // ============== 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(); // deprecated 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); 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); // Following courtesy of Stephen James: 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); // Deprecated begin 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); // Deprecated end