#constants #Scene object types. Values are serialized sim_object_shape_type =0 sim_object_joint_type =1 sim_object_graph_type =2 sim_object_camera_type =3 sim_object_dummy_type =4 sim_object_proximitysensor_type =5 sim_object_reserved1 =6 sim_object_reserved2 =7 sim_object_path_type =8 sim_object_visionsensor_type =9 sim_object_volume_type =10 sim_object_mill_type =11 sim_object_forcesensor_type =12 sim_object_light_type =13 sim_object_mirror_type =14 #General object types. Values are serialized sim_appobj_object_type =109 sim_appobj_collision_type =110 sim_appobj_distance_type =111 sim_appobj_simulation_type =112 sim_appobj_ik_type =113 sim_appobj_constraintsolver_type=114 sim_appobj_collection_type =115 sim_appobj_ui_type =116 sim_appobj_script_type =117 sim_appobj_pathplanning_type =118 sim_appobj_RESERVED_type =119 sim_appobj_texture_type =120 # Ik calculation methods. Values are serialized sim_ik_pseudo_inverse_method =0 sim_ik_damped_least_squares_method =1 sim_ik_jacobian_transpose_method =2 # Ik constraints. Values are serialized sim_ik_x_constraint =1 sim_ik_y_constraint =2 sim_ik_z_constraint =4 sim_ik_alpha_beta_constraint=8 sim_ik_gamma_constraint =16 sim_ik_avoidance_constraint =64 # Ik calculation results sim_ikresult_not_performed =0 sim_ikresult_success =1 sim_ikresult_fail =2 # Scene object sub-types. Values are serialized # Light sub-types sim_light_omnidirectional_subtype =1 sim_light_spot_subtype =2 sim_light_directional_subtype =3 # Joint sub-types sim_joint_revolute_subtype =10 sim_joint_prismatic_subtype =11 sim_joint_spherical_subtype =12 # Shape sub-types sim_shape_simpleshape_subtype =20 sim_shape_multishape_subtype =21 # Proximity sensor sub-types sim_proximitysensor_pyramid_subtype =30 sim_proximitysensor_cylinder_subtype=31 sim_proximitysensor_disc_subtype =32 sim_proximitysensor_cone_subtype =33 sim_proximitysensor_ray_subtype =34 # Mill sub-types sim_mill_pyramid_subtype =40 sim_mill_cylinder_subtype =41 sim_mill_disc_subtype =42 sim_mill_cone_subtype =42 # No sub-type sim_object_no_subtype =200 #Scene object main properties (serialized) sim_objectspecialproperty_collidable =0x0001 sim_objectspecialproperty_measurable =0x0002 #reserved =0x0004 #reserved =0x0008 sim_objectspecialproperty_detectable_ultrasonic =0x0010 sim_objectspecialproperty_detectable_infrared =0x0020 sim_objectspecialproperty_detectable_laser =0x0040 sim_objectspecialproperty_detectable_inductive =0x0080 sim_objectspecialproperty_detectable_capacitive =0x0100 sim_objectspecialproperty_renderable =0x0200 sim_objectspecialproperty_detectable_all =sim_objectspecialproperty_detectable_ultrasonic|sim_objectspecialproperty_detectable_infrared|sim_objectspecialproperty_detectable_laser|sim_objectspecialproperty_detectable_inductive|sim_objectspecialproperty_detectable_capacitive sim_objectspecialproperty_cuttable =0x0400 sim_objectspecialproperty_pathplanning_ignored =0x0800 # Model properties (serialized) sim_modelproperty_not_collidable =0x0001 sim_modelproperty_not_measurable =0x0002 sim_modelproperty_not_renderable =0x0004 sim_modelproperty_not_detectable =0x0008 sim_modelproperty_not_cuttable =0x0010 sim_modelproperty_not_dynamic =0x0020 sim_modelproperty_not_respondable =0x0040 # cannot be selected if sim_modelproperty_not_dynamic is not selected sim_modelproperty_not_reset =0x0080 # Model is not reset at simulation end. This flag is cleared at simulation end sim_modelproperty_not_visible =0x0100 # Whole model is invisible independent of local visibility settings sim_modelproperty_not_model =0xf000 # object is not a model # Check the documentation instead of comments below!! # Following messages are dispatched to the Lua-message container sim_message_ui_button_state_change =0 # a UI button slider etc. changed (due to a user's action). aux[0]=UI handle aux[1]=button handle aux[2]=button attributes aux[3]=slider position (if slider) sim_message_reserved9 =1 # Do not use sim_message_object_selection_changed=2 sim_message_reserved10 =3 # do not use sim_message_model_loaded =4 sim_message_reserved11 =5 # do not use sim_message_keypress =6 # a key was pressed while the focus was on a page (aux[0]=key aux[1]=ctrl and shift key state) sim_message_bannerclicked =7 # a banner was clicked (aux[0]=banner ID) # Following messages are dispatched only to the C-API (not available from Lua) sim_message_for_c_api_only_start =0x100 # Do not use sim_message_reserved1 =0x101 # Do not use sim_message_reserved2 =0x102 # Do not use sim_message_reserved3 =0x103 # Do not use sim_message_eventcallback_scenesave =0x104 # about to save a scene sim_message_eventcallback_modelsave =0x105 # about to save a model (current selection will be saved) sim_message_eventcallback_moduleopen =0x106 # called when simOpenModule in Lua is called sim_message_eventcallback_modulehandle =0x107 # called when simHandleModule in Lua is called with argument false sim_message_eventcallback_moduleclose =0x108 # called when simCloseModule in Lua is called sim_message_reserved4 =0x109 # Do not use sim_message_reserved5 =0x10a # Do not use sim_message_reserved6 =0x10b # Do not use sim_message_reserved7 =0x10c # Do not use sim_message_eventcallback_instancepass =0x10d # Called once every main application loop pass. auxiliaryData[0] contains event flags of events that happened since last time sim_message_eventcallback_broadcast =0x10e sim_message_eventcallback_imagefilter_enumreset =0x10f sim_message_eventcallback_imagefilter_enumerate =0x110 sim_message_eventcallback_imagefilter_adjustparams =0x111 sim_message_eventcallback_imagefilter_reserved =0x112 sim_message_eventcallback_imagefilter_process =0x113 sim_message_eventcallback_reserved1 =0x114 # do not use sim_message_eventcallback_reserved2 =0x115 # do not use sim_message_eventcallback_reserved3 =0x116 # do not use sim_message_eventcallback_reserved4 =0x117 # do not use sim_message_eventcallback_abouttoundo =0x118 # the undo button was hit and a previous state is about to be restored sim_message_eventcallback_undoperformed =0x119 # the undo button was hit and a previous state restored sim_message_eventcallback_abouttoredo =0x11a # the redo button was hit and a future state is about to be restored sim_message_eventcallback_redoperformed =0x11b # the redo button was hit and a future state restored sim_message_eventcallback_scripticondblclick =0x11c # scipt icon was double clicked. (aux[0]=object handle associated with script set replyData[0] to 1 if script should not be opened) sim_message_eventcallback_simulationabouttostart =0x11d sim_message_eventcallback_simulationended =0x11e sim_message_eventcallback_reserved5 =0x11f # do not use sim_message_eventcallback_keypress =0x120 # a key was pressed while the focus was on a page (aux[0]=key aux[1]=ctrl and shift key state) sim_message_eventcallback_modulehandleinsensingpart =0x121 # called when simHandleModule in Lua is called with argument true sim_message_eventcallback_renderingpass =0x122 # called just before the scene is rendered sim_message_eventcallback_bannerclicked =0x123 # called when a banner was clicked (aux[0]=banner ID) sim_message_eventcallback_menuitemselected =0x124 # auxiliaryData[0] indicates the handle of the item auxiliaryData[1] indicates the state of the item sim_message_eventcallback_refreshdialogs =0x125 # aux[0]=refresh degree (0=light 1=medium 2=full) sim_message_eventcallback_sceneloaded =0x126 sim_message_eventcallback_modelloaded =0x127 sim_message_eventcallback_instanceswitch =0x128 sim_message_eventcallback_guipass =0x129 sim_message_eventcallback_mainscriptabouttobecalled =0x12a sim_message_eventcallback_rmlposition =0x12b #the command simRMLPosition was called. The appropriate plugin should handle the call sim_message_eventcallback_rmlvelocity =0x12c # the command simRMLVelocity was called. The appropriate plugin should handle the call sim_message_simulation_start_resume_request =0x1000 sim_message_simulation_pause_request =0x1001 sim_message_simulation_stop_request =0x1002 # Scene object properties. Combine with the | operator sim_objectproperty_reserved1 =0x0000 sim_objectproperty_reserved2 =0x0001 sim_objectproperty_reserved3 =0x0002 sim_objectproperty_reserved4 =0x0003 sim_objectproperty_reserved5 =0x0004 # formely sim_objectproperty_visible sim_objectproperty_reserved6 =0x0008 # formely sim_objectproperty_wireframe sim_objectproperty_collapsed =0x0010 sim_objectproperty_selectable =0x0020 sim_objectproperty_reserved7 =0x0040 sim_objectproperty_selectmodelbaseinstead =0x0080 sim_objectproperty_dontshowasinsidemodel =0x0100 # reserved =0x0200 sim_objectproperty_canupdatedna =0x0400 sim_objectproperty_selectinvisible =0x0800 sim_objectproperty_depthinvisible =0x1000 # type of arguments (input and output) for custom lua commands sim_lua_arg_nil =0 sim_lua_arg_bool =1 sim_lua_arg_int =2 sim_lua_arg_float =3 sim_lua_arg_string =4 sim_lua_arg_invalid =5 sim_lua_arg_table =8 # custom user interface properties. Values are serialized. sim_ui_property_visible =0x0001 sim_ui_property_visibleduringsimulationonly =0x0002 sim_ui_property_moveable =0x0004 sim_ui_property_relativetoleftborder =0x0008 sim_ui_property_relativetotopborder =0x0010 sim_ui_property_fixedwidthfont =0x0020 sim_ui_property_systemblock =0x0040 sim_ui_property_settocenter =0x0080 sim_ui_property_rolledup =0x0100 sim_ui_property_selectassociatedobject =0x0200 sim_ui_property_visiblewhenobjectselected =0x0400 # button properties. Values are serialized. sim_buttonproperty_button =0x0000 sim_buttonproperty_label =0x0001 sim_buttonproperty_slider =0x0002 sim_buttonproperty_editbox =0x0003 sim_buttonproperty_staydown =0x0008 sim_buttonproperty_enabled =0x0010 sim_buttonproperty_borderless =0x0020 sim_buttonproperty_horizontallycentered =0x0040 sim_buttonproperty_ignoremouse =0x0080 sim_buttonproperty_isdown =0x0100 sim_buttonproperty_transparent =0x0200 sim_buttonproperty_nobackgroundcolor =0x0400 sim_buttonproperty_rollupaction =0x0800 sim_buttonproperty_closeaction =0x1000 sim_buttonproperty_verticallycentered =0x2000 sim_buttonproperty_downupevent =0x4000 # Simulation status sim_simulation_stopped =0x00 # Simulation is stopped sim_simulation_paused =0x08 # Simulation is paused sim_simulation_advancing =0x10 # Simulation is advancing sim_simulation_advancing_firstafterstop =sim_simulation_advancing|0x00 # First simulation pass (1x) sim_simulation_advancing_running =sim_simulation_advancing|0x01 # Normal simulation pass (>=1x) # reserved =sim_simulation_advancing|0x02 sim_simulation_advancing_lastbeforepause =sim_simulation_advancing|0x03 # Last simulation pass before pause (1x) sim_simulation_advancing_firstafterpause =sim_simulation_advancing|0x04 # First simulation pass after pause (1x) sim_simulation_advancing_abouttostop =sim_simulation_advancing|0x05 # "Trying to stop" simulation pass (>=1x) sim_simulation_advancing_lastbeforestop =sim_simulation_advancing|0x06 # Last simulation pass (1x) # Script execution result (first return value) sim_script_no_error =0 sim_script_main_script_nonexistent =1 sim_script_main_script_not_called =2 sim_script_reentrance_error =4 sim_script_lua_error =8 sim_script_call_error =16 # Script types (serialized!) sim_scripttype_mainscript =0 sim_scripttype_childscript =1 sim_scripttype_jointctrlcallback =4 sim_scripttype_contactcallback =5 sim_scripttype_customizationscript =6 sim_scripttype_generalcallback =7 # API call error messages sim_api_errormessage_ignore =0 # does not memorize nor output errors sim_api_errormessage_report =1 # memorizes errors (default for C-API calls) sim_api_errormessage_output =2 # memorizes and outputs errors (default for Lua-API calls) # special argument of some functions sim_handle_all =-2 sim_handle_all_except_explicit =-3 sim_handle_self =-4 sim_handle_main_script =-5 sim_handle_tree =-6 sim_handle_chain =-7 sim_handle_single =-8 sim_handle_default =-9 sim_handle_all_except_self =-10 sim_handle_parent =-11 # special handle flags sim_handleflag_assembly =0x400000 sim_handleflag_model =0x800000 # distance calculation methods (serialized) sim_distcalcmethod_dl =0 sim_distcalcmethod_dac =1 sim_distcalcmethod_max_dl_dac =2 sim_distcalcmethod_dl_and_dac =3 sim_distcalcmethod_sqrt_dl2_and_dac2=4 sim_distcalcmethod_dl_if_nonzero =5 sim_distcalcmethod_dac_if_nonzero =6 # Generic dialog styles sim_dlgstyle_message =0 sim_dlgstyle_input =1 sim_dlgstyle_ok =2 sim_dlgstyle_ok_cancel =3 sim_dlgstyle_yes_no =4 sim_dlgstyle_dont_center =32# can be combined with one of above values. Only with this flag can the position of the related UI be set just after dialog creation # Generic dialog return values sim_dlgret_still_open =0 sim_dlgret_ok =1 sim_dlgret_cancel =2 sim_dlgret_yes =3 sim_dlgret_no =4 # Path properties sim_pathproperty_show_line =0x0001 sim_pathproperty_show_orientation =0x0002 sim_pathproperty_closed_path =0x0004 sim_pathproperty_automatic_orientation =0x0008 sim_pathproperty_invert_velocity =0x0010 sim_pathproperty_infinite_acceleration =0x0020 sim_pathproperty_flat_path =0x0040 sim_pathproperty_show_position =0x0080 sim_pathproperty_auto_velocity_profile_translation =0x0100 sim_pathproperty_auto_velocity_profile_rotation =0x0200 sim_pathproperty_endpoints_at_zero =0x0400 sim_pathproperty_keep_x_up =0x0800 # drawing objects # following are mutually exclusive sim_drawing_points =0 # 3 values per point (point size in pixels) sim_drawing_lines =1 # 6 values per line (line size in pixels) sim_drawing_triangles =2 # 9 values per triangle sim_drawing_trianglepoints =3 # 6 values per point (3 for triangle position 3 for triangle normal vector) (triangle size in meters) sim_drawing_quadpoints =4 # 6 values per point (3 for quad position 3 for quad normal vector) (quad size in meters) sim_drawing_discpoints =5 # 6 values per point (3 for disc position 3 for disc normal vector) (disc size in meters) sim_drawing_cubepoints =6 # 6 values per point (3 for cube position 3 for cube normal vector) (cube size in meters) sim_drawing_spherepoints =7 # 3 values per point (sphere size in meters) # following can be or-combined sim_drawing_itemcolors =0x00020 # +3 values per item (each item has its own ambient color (rgb values)). # Mutually exclusive with sim_drawing_vertexcolors sim_drawing_vertexcolors =0x00040 # +3 values per vertex (each vertex has its own ambient color (rgb values). Only for sim_drawing_lines (+6) and for sim_drawing_triangles(+9)). Mutually exclusive with sim_drawing_itemcolors sim_drawing_itemsizes =0x00080 # +1 value per item (each item has its own size). Not for sim_drawing_triangles sim_drawing_backfaceculling =0x00100 # back faces are not displayed for all items sim_drawing_wireframe =0x00200 # all items displayed in wireframe sim_drawing_painttag =0x00400 # all items are tagged as paint (for additinal processing at a later stage) sim_drawing_followparentvisibility =0x00800 # if the object is associated with a scene object then it follows that visibility otherwise it is always visible sim_drawing_cyclic =0x01000 # if the max item count was reached then the first items are overwritten. sim_drawing_50percenttransparency =0x02000 # the drawing object will be 50% transparent sim_drawing_25percenttransparency =0x04000 # the drawing object will be 25% transparent sim_drawing_12percenttransparency =0x08000 # the drawing object will be 12.5% transparent sim_drawing_emissioncolor =0x10000 # When used in combination with sim_drawing_itemcolors or sim_drawing_vertexcolors then the specified colors will be for the emissive component sim_drawing_facingcamera =0x20000 # Only for trianglepoints quadpoints discpoints and cubepoints. If specified the normal verctor is calculated to face the camera (each item data requires 3 values less) sim_drawing_overlay =0x40000 # When specified objects are always drawn on top of "regular objects" sim_drawing_itemtransparency =0x80000 # +1 value per item (each item has its own transparency value (0-1)). Not compatible with sim_drawing_vertexcolors # banner values # following can be or-combined sim_banner_left =0x00001 # Banners display on the left of the specified point sim_banner_right =0x00002 # Banners display on the right of the specified point sim_banner_nobackground =0x00004 # Banners have no background rectangle sim_banner_overlay =0x00008 # When specified banners are always drawn on top of "regular objects" sim_banner_followparentvisibility =0x00010 # if the object is associated with a scene object then it follows that visibility otherwise it is always visible sim_banner_clickselectsparent =0x00020 # if the object is associated with a scene object then clicking the banner will select the scene object sim_banner_clicktriggersevent =0x00040 # if the banner is clicked an event is triggered (sim_message_eventcallback_bannerclicked and sim_message_bannerclicked are generated) sim_banner_facingcamera =0x00080 # If specified the banner will always face the camera by rotating around the banner's vertical axis (y-axis) sim_banner_fullyfacingcamera =0x00100 # If specified the banner will always fully face the camera (the banner's orientation is same as the camera looking at it) sim_banner_backfaceculling =0x00200 # If specified the banner will only be visible from one side sim_banner_keepsamesize =0x00400 # If specified the banner will always appear in the same size. In that case size represents the character height in pixels sim_banner_bitmapfont =0x00800 # If specified a fixed-size bitmap font is used. The text will also always fully face the camera and be right # to the specified position. Bitmap fonts are not clickable # particle objects following are mutually exclusive sim_particle_points1 =0 # 6 values per point (pt1 and pt2. Pt1 is start position pt2-pt1 is the initial velocity vector). i #Point is 1 pixel big. Only appearance is a point internally handled as a perfect sphere sim_particle_points2 =1 # 6 values per point. Point is 2 pixel big. Only appearance is a point internally handled as a perfect sphere sim_particle_points4 =2 # 6 values per point. Point is 4 pixel big. Only appearance is a point internally handled as a perfect sphere sim_particle_roughspheres =3 # 6 values per sphere. Only appearance is rough. Internally a perfect sphere sim_particle_spheres =4 # 6 values per sphere. Internally a perfect sphere # following can be or-combined sim_particle_respondable1to4 =0x0020 # the particles are respondable against shapes (against all objects that have at least one bit 1-4 activated in the global respondable mask) sim_particle_respondable5to8 =0x0040 # the particles are respondable against shapes (against all objects that have at least one bit 5-8 activated in the global respondable mask) sim_particle_particlerespondable =0x0080 # the particles are respondable against each other sim_particle_ignoresgravity =0x0100 # the particles ignore the effect of gravity. Not compatible with sim_particle_water sim_particle_invisible =0x0200 # the particles are invisible sim_particle_itemsizes =0x0400 # +1 value per particle (each particle can have a different size) sim_particle_itemdensities =0x0800 # +1 value per particle (each particle can have a different density) sim_particle_itemcolors =0x1000 # +3 values per particle (each particle can have a different color) sim_particle_cyclic =0x2000 # if the max item count was reached then the first items are overwritten. sim_particle_emissioncolor =0x4000 # When used in combination with sim_particle_itemcolors then the specified colors will be for the emissive component sim_particle_water =0x8000 # the particles are water particles (no weight in the water (i.e. when z<0)). Not compatible with sim_particle_ignoresgravity sim_particle_painttag =0x10000 # The particles can be seen by vision sensors (sim_particle_invisible must not be set) # custom user interface menu attributes sim_ui_menu_title =1 sim_ui_menu_minimize =2 sim_ui_menu_close =4 sim_ui_menu_systemblock =8 # Boolean parameters sim_boolparam_hierarchy_visible =0 sim_boolparam_console_visible =1 sim_boolparam_collision_handling_enabled =2 sim_boolparam_distance_handling_enabled =3 sim_boolparam_ik_handling_enabled =4 sim_boolparam_gcs_handling_enabled =5 sim_boolparam_dynamics_handling_enabled =6 sim_boolparam_joint_motion_handling_enabled =7 sim_boolparam_path_motion_handling_enabled =8 sim_boolparam_proximity_sensor_handling_enabled =9 sim_boolparam_vision_sensor_handling_enabled =10 sim_boolparam_mill_handling_enabled =11 sim_boolparam_browser_visible =12 sim_boolparam_scene_and_model_load_messages =13 sim_reserved0 =14 sim_boolparam_shape_textures_are_visible =15 sim_boolparam_display_enabled =16 sim_boolparam_infotext_visible =17 sim_boolparam_statustext_open =18 sim_boolparam_fog_enabled =19 sim_boolparam_rml2_available =20 sim_boolparam_rml4_available =21 sim_boolparam_mirrors_enabled =22 sim_boolparam_aux_clip_planes_enabled =23 sim_boolparam_full_model_copy_from_api =24 sim_boolparam_realtime_simulation =25 sim_boolparam_force_show_wireless_emission =27 sim_boolparam_force_show_wireless_reception =28 sim_boolparam_video_recording_triggered =29 sim_boolparam_threaded_rendering_enabled =32 sim_boolparam_fullscreen =33 sim_boolparam_headless =34 sim_boolparam_hierarchy_toolbarbutton_enabled =35 sim_boolparam_browser_toolbarbutton_enabled =36 sim_boolparam_objectshift_toolbarbutton_enabled =37 sim_boolparam_objectrotate_toolbarbutton_enabled=38 sim_boolparam_force_calcstruct_all_visible =39 sim_boolparam_force_calcstruct_all =40 sim_boolparam_exit_request =41 sim_boolparam_play_toolbarbutton_enabled =42 sim_boolparam_pause_toolbarbutton_enabled =43 sim_boolparam_stop_toolbarbutton_enabled =44 sim_boolparam_waiting_for_trigger =45 # Integer parameters sim_intparam_error_report_mode =0 # Check sim_api_errormessage_... constants above for valid values sim_intparam_program_version =1 # e.g Version 2.1.4 --> 20104. Can only be read sim_intparam_instance_count =2 # do not use anymore (always returns 1 since CoppeliaSim 2.5.11) sim_intparam_custom_cmd_start_id =3 # can only be read sim_intparam_compilation_version =4 # 0=evaluation version 1=full version 2=player version. Can only be read sim_intparam_current_page =5 sim_intparam_flymode_camera_handle =6 # can only be read sim_intparam_dynamic_step_divider =7 # can only be read sim_intparam_dynamic_engine =8 # 0=Bullet 1=ODE. 2=Vortex. sim_intparam_server_port_start =9 # can only be read sim_intparam_server_port_range =10 # can only be read sim_intparam_visible_layers =11 sim_intparam_infotext_style =12 sim_intparam_settings =13 sim_intparam_edit_mode_type =14 # can only be read sim_intparam_server_port_next =15 # is initialized at sim_intparam_server_port_start sim_intparam_qt_version =16 # version of the used Qt framework sim_intparam_event_flags_read =17 # can only be read sim_intparam_event_flags_read_clear =18 # can only be read sim_intparam_platform =19 # can only be read sim_intparam_scene_unique_id =20 # can only be read sim_intparam_work_thread_count =21 sim_intparam_mouse_x =22 sim_intparam_mouse_y =23 sim_intparam_core_count =24 sim_intparam_work_thread_calc_time_ms =25 sim_intparam_idle_fps =26 sim_intparam_prox_sensor_select_down =27 sim_intparam_prox_sensor_select_up =28 sim_intparam_stop_request_counter =29 sim_intparam_program_revision =30 sim_intparam_mouse_buttons =31 sim_intparam_dynamic_warning_disabled_mask =32 sim_intparam_simulation_warning_disabled_mask =33 sim_intparam_scene_index =34 sim_intparam_motionplanning_seed =35 sim_intparam_speedmodifier =36 # Float parameters sim_floatparam_rand=0 # random value (0.0-1.0) sim_floatparam_simulation_time_step =1 sim_floatparam_stereo_distance =2 # String parameters sim_stringparam_application_path=0 # path of CoppeliaSim's executable sim_stringparam_video_filename=1 sim_stringparam_app_arg1 =2 sim_stringparam_app_arg2 =3 sim_stringparam_app_arg3 =4 sim_stringparam_app_arg4 =5 sim_stringparam_app_arg5 =6 sim_stringparam_app_arg6 =7 sim_stringparam_app_arg7 =8 sim_stringparam_app_arg8 =9 sim_stringparam_app_arg9 =10 sim_stringparam_scene_path_and_name =13 # Array parameters sim_arrayparam_gravity =0 sim_arrayparam_fog =1 sim_arrayparam_fog_color =2 sim_arrayparam_background_color1=3 sim_arrayparam_background_color2=4 sim_arrayparam_ambient_light =5 sim_arrayparam_random_euler =6 sim_objintparam_visibility_layer= 10 sim_objfloatparam_abs_x_velocity= 11 sim_objfloatparam_abs_y_velocity= 12 sim_objfloatparam_abs_z_velocity= 13 sim_objfloatparam_abs_rot_velocity= 14 sim_objfloatparam_objbbox_min_x= 15 sim_objfloatparam_objbbox_min_y= 16 sim_objfloatparam_objbbox_min_z= 17 sim_objfloatparam_objbbox_max_x= 18 sim_objfloatparam_objbbox_max_y= 19 sim_objfloatparam_objbbox_max_z= 20 sim_objfloatparam_modelbbox_min_x= 21 sim_objfloatparam_modelbbox_min_y= 22 sim_objfloatparam_modelbbox_min_z= 23 sim_objfloatparam_modelbbox_max_x= 24 sim_objfloatparam_modelbbox_max_y= 25 sim_objfloatparam_modelbbox_max_z= 26 sim_objintparam_collection_self_collision_indicator= 27 sim_objfloatparam_transparency_offset= 28 sim_objintparam_child_role= 29 sim_objintparam_parent_role= 30 sim_objintparam_manipulation_permissions= 31 sim_objintparam_illumination_handle= 32 sim_visionfloatparam_near_clipping= 1000 sim_visionfloatparam_far_clipping= 1001 sim_visionintparam_resolution_x= 1002 sim_visionintparam_resolution_y= 1003 sim_visionfloatparam_perspective_angle= 1004 sim_visionfloatparam_ortho_size= 1005 sim_visionintparam_disabled_light_components= 1006 sim_visionintparam_rendering_attributes= 1007 sim_visionintparam_entity_to_render= 1008 sim_visionintparam_windowed_size_x= 1009 sim_visionintparam_windowed_size_y= 1010 sim_visionintparam_windowed_pos_x= 1011 sim_visionintparam_windowed_pos_y= 1012 sim_visionintparam_pov_focal_blur= 1013 sim_visionfloatparam_pov_blur_distance= 1014 sim_visionfloatparam_pov_aperture= 1015 sim_visionintparam_pov_blur_sampled= 1016 sim_visionintparam_render_mode= 1017 sim_jointintparam_motor_enabled= 2000 sim_jointintparam_ctrl_enabled= 2001 sim_jointfloatparam_pid_p= 2002 sim_jointfloatparam_pid_i= 2003 sim_jointfloatparam_pid_d= 2004 sim_jointfloatparam_intrinsic_x= 2005 sim_jointfloatparam_intrinsic_y= 2006 sim_jointfloatparam_intrinsic_z= 2007 sim_jointfloatparam_intrinsic_qx= 2008 sim_jointfloatparam_intrinsic_qy= 2009 sim_jointfloatparam_intrinsic_qz= 2010 sim_jointfloatparam_intrinsic_qw= 2011 sim_jointfloatparam_velocity= 2012 sim_jointfloatparam_spherical_qx= 2013 sim_jointfloatparam_spherical_qy= 2014 sim_jointfloatparam_spherical_qz= 2015 sim_jointfloatparam_spherical_qw= 2016 sim_jointfloatparam_upper_limit= 2017 sim_jointfloatparam_kc_k= 2018 sim_jointfloatparam_kc_c= 2019 sim_jointfloatparam_ik_weight= 2021 sim_jointfloatparam_error_x= 2022 sim_jointfloatparam_error_y= 2023 sim_jointfloatparam_error_z= 2024 sim_jointfloatparam_error_a= 2025 sim_jointfloatparam_error_b= 2026 sim_jointfloatparam_error_g= 2027 sim_jointfloatparam_error_pos= 2028 sim_jointfloatparam_error_angle= 2029 sim_jointintparam_velocity_lock= 2030 sim_jointintparam_vortex_dep_handle= 2031 sim_jointfloatparam_vortex_dep_multiplication= 2032 sim_jointfloatparam_vortex_dep_offset= 2033 sim_shapefloatparam_init_velocity_x= 3000 sim_shapefloatparam_init_velocity_y= 3001 sim_shapefloatparam_init_velocity_z= 3002 sim_shapeintparam_static= 3003 sim_shapeintparam_respondable= 3004 sim_shapefloatparam_mass= 3005 sim_shapefloatparam_texture_x= 3006 sim_shapefloatparam_texture_y= 3007 sim_shapefloatparam_texture_z= 3008 sim_shapefloatparam_texture_a= 3009 sim_shapefloatparam_texture_b= 3010 sim_shapefloatparam_texture_g= 3011 sim_shapefloatparam_texture_scaling_x= 3012 sim_shapefloatparam_texture_scaling_y= 3013 sim_shapeintparam_culling= 3014 sim_shapeintparam_wireframe= 3015 sim_shapeintparam_compound= 3016 sim_shapeintparam_convex= 3017 sim_shapeintparam_convex_check= 3018 sim_shapeintparam_respondable_mask= 3019 sim_shapefloatparam_init_velocity_a= 3020 sim_shapefloatparam_init_velocity_b= 3021 sim_shapefloatparam_init_velocity_g= 3022 sim_shapestringparam_color_name= 3023 sim_shapeintparam_edge_visibility= 3024 sim_shapefloatparam_shading_angle= 3025 sim_shapefloatparam_edge_angle= 3026 sim_shapeintparam_edge_borders_hidden= 3027 sim_proxintparam_ray_invisibility= 4000 sim_forcefloatparam_error_x= 5000 sim_forcefloatparam_error_y= 5001 sim_forcefloatparam_error_z= 5002 sim_forcefloatparam_error_a= 5003 sim_forcefloatparam_error_b= 5004 sim_forcefloatparam_error_g= 5005 sim_forcefloatparam_error_pos= 5006 sim_forcefloatparam_error_angle= 5007 sim_lightintparam_pov_casts_shadows= 8000 sim_cameraintparam_disabled_light_components= 9000 sim_camerafloatparam_perspective_angle= 9001 sim_camerafloatparam_ortho_size= 9002 sim_cameraintparam_rendering_attributes= 9003 sim_cameraintparam_pov_focal_blur= 9004 sim_camerafloatparam_pov_blur_distance= 9005 sim_camerafloatparam_pov_aperture= 9006 sim_cameraintparam_pov_blur_samples= 9007 sim_dummyintparam_link_type= 10000 sim_mirrorfloatparam_width= 12000 sim_mirrorfloatparam_height= 12001 sim_mirrorfloatparam_reflectance= 12002 sim_mirrorintparam_enable= 12003 sim_pplanfloatparam_x_min= 20000 sim_pplanfloatparam_x_range= 20001 sim_pplanfloatparam_y_min= 20002 sim_pplanfloatparam_y_range= 20003 sim_pplanfloatparam_z_min= 20004 sim_pplanfloatparam_z_range= 20005 sim_pplanfloatparam_delta_min= 20006 sim_pplanfloatparam_delta_range= 20007 sim_mplanintparam_nodes_computed= 25000 sim_mplanintparam_prepare_nodes= 25001 sim_mplanintparam_clear_nodes= 25002 # User interface elements sim_gui_menubar =0x0001 sim_gui_popups =0x0002 sim_gui_toolbar1 =0x0004 sim_gui_toolbar2 =0x0008 sim_gui_hierarchy =0x0010 sim_gui_infobar =0x0020 sim_gui_statusbar =0x0040 sim_gui_scripteditor =0x0080 sim_gui_scriptsimulationparameters =0x0100 sim_gui_dialogs =0x0200 sim_gui_browser =0x0400 sim_gui_all =0xffff # Joint modes sim_jointmode_passive =0 sim_jointmode_motion =1 sim_jointmode_ik =2 sim_jointmode_ikdependent =3 sim_jointmode_dependent =4 sim_jointmode_force =5 # Navigation and selection modes with the mouse. Lower byte values are mutually exclusive upper byte bits can be combined sim_navigation_passive =0x0000 sim_navigation_camerashift =0x0001 sim_navigation_camerarotate =0x0002 sim_navigation_camerazoom =0x0003 sim_navigation_cameratilt =0x0004 sim_navigation_cameraangle =0x0005 sim_navigation_camerafly =0x0006 sim_navigation_objectshift =0x0007 sim_navigation_objectrotate =0x0008 sim_navigation_reserved2 =0x0009 sim_navigation_reserved3 =0x000A sim_navigation_jointpathtest =0x000B sim_navigation_ikmanip =0x000C sim_navigation_objectmultipleselection =0x000D # Bit-combine following values and add them to one of above's values for a valid navigation mode sim_navigation_reserved4 =0x0100 sim_navigation_clickselection =0x0200 sim_navigation_ctrlselection =0x0400 sim_navigation_shiftselection =0x0800 sim_navigation_camerazoomwheel =0x1000 sim_navigation_camerarotaterightbutton =0x2000 #Remote API constants SIMX_VERSION =0 # Remote API message header structure SIMX_HEADER_SIZE =18 simx_headeroffset_crc =0 # 1 simxUShort. Generated by the client or server. The CRC for the message simx_headeroffset_version =2 # 1 byte. Generated by the client or server. The version of the remote API software simx_headeroffset_message_id =3 # 1 simxInt. Generated by the client (and used in a reply by the server) simx_headeroffset_client_time =7 # 1 simxInt. Client time stamp generated by the client (and sent back by the server) simx_headeroffset_server_time =11 # 1 simxInt. Generated by the server when a reply is generated. The server timestamp simx_headeroffset_scene_id =15 # 1 simxUShort. Generated by the server. A unique ID identifying the scene currently displayed simx_headeroffset_server_state =17 # 1 byte. Generated by the server. Bit coded 0 set --> simulation not stopped 1 set --> simulation paused 2 set --> real-time switch on 3-5 edit mode type (0=no edit mode 1=triangle 2=vertex 3=edge 4=path 5=UI) # Remote API command header SIMX_SUBHEADER_SIZE =26 simx_cmdheaderoffset_mem_size =0 # 1 simxInt. Generated by the client or server. The buffer size of the command. simx_cmdheaderoffset_full_mem_size =4 # 1 simxInt. Generated by the client or server. The full buffer size of the command (applies to split chunks). simx_cmdheaderoffset_pdata_offset0 =8 # 1 simxUShort. Generated by the client or server. The amount of data that is part of the command identification. simx_cmdheaderoffset_pdata_offset1 =10 # 1 simxInt. Generated by the client or server. The amount of shift of the pure data buffer (applies to split chunks). simx_cmdheaderoffset_cmd=14 # 1 simxInt. Generated by the client (and used in a reply by the server). The command combined with the operation mode of the command. simx_cmdheaderoffset_delay_or_split =18 # 1 simxUShort. Generated by the client or server. The amount of delay in ms of a continuous command or the max. pure data size to send at once (applies to split commands). simx_cmdheaderoffset_sim_time =20 # 1 simxInt. Generated by the server. The simulation time (in ms) when the command was executed (or 0 if simulation is not running) simx_cmdheaderoffset_status =24 # 1 byte. Generated by the server. (1 bit 0 is set --> error in function execution on server side). The client writes bit 1 if command cannot be overwritten simx_cmdheaderoffset_reserved =25 # 1 byte. Not yet used # Regular operation modes simx_opmode_oneshot =0x000000 # sends command as one chunk. Reply will also come as one chunk. Doesn't wait for the reply. simx_opmode_blocking =0x010000 # sends command as one chunk. Reply will also come as one chunk. Waits for the reply (_REPLY_WAIT_TIMEOUT_IN_MS is the timeout). simx_opmode_oneshot_wait =0x010000 # sends command as one chunk. Reply will also come as one chunk. Waits for the reply (_REPLY_WAIT_TIMEOUT_IN_MS is the timeout). simx_opmode_continuous =0x020000 simx_opmode_streaming =0x020000 # sends command as one chunk. Command will be stored on the server and always executed #(every x ms (as far as possible) where x can be 0-65535. just add x to opmode_continuous). # A reply will be sent continuously each time as one chunk. Doesn't wait for the reply. # Operation modes for heavy data simx_opmode_oneshot_split =0x030000 # sends command as several chunks (max chunk size is x bytes where x can be _MIN_SPLIT_AMOUNT_IN_BYTES-65535. Just add x to opmode_oneshot_split). Reply will also come as several chunks. Doesn't wait for the reply. simx_opmode_continuous_split =0x040000 simx_opmode_streaming_split =0x040000 # sends command as several chunks (max chunk size is x bytes where x can be _MIN_SPLIT_AMOUNT_IN_BYTES-65535. Just add x to opmode_continuous_split). Command will be stored on the server and always executed. A reply will be sent continuously each time as several chunks. Doesn't wait for the reply. # Special operation modes simx_opmode_discontinue =0x050000 # removes and cancels all commands stored on the client or server side (also continuous commands) simx_opmode_buffer =0x060000 # doesn't send anything but checks if a reply for the given command is available in the input buffer (i.e. previously received from the server) simx_opmode_remove =0x070000 # doesn't send anything and doesn't return any specific value. It just erases a similar command reply in the inbox (to free some memory) # Command return codes simx_return_ok =0x000000 simx_return_novalue_flag =0x000001 # input buffer doesn't contain the specified command simx_return_timeout_flag =0x000002 # command reply not received in time for opmode_oneshot_wait operation mode simx_return_illegal_opmode_flag =0x000004 # command doesn't support the specified operation mode simx_return_remote_error_flag =0x000008 # command caused an error on the server side simx_return_split_progress_flag =0x000010 # previous similar command not yet fully processed (applies to opmode_oneshot_split operation modes) simx_return_local_error_flag =0x000020 # command caused an error on the client side simx_return_initialize_error_flag =0x000040 # simxStart was not yet called # Following for backward compatibility (same as above) simx_error_noerror =0x000000 simx_error_novalue_flag =0x000001 # input buffer doesn't contain the specified command simx_error_timeout_flag =0x000002 # command reply not received in time for opmode_oneshot_wait operation mode simx_error_illegal_opmode_flag =0x000004 # command doesn't support the specified operation mode simx_error_remote_error_flag =0x000008 # command caused an error on the server side simx_error_split_progress_flag =0x000010 # previous similar command not yet fully processed (applies to opmode_oneshot_split operation modes) simx_error_local_error_flag =0x000020 # command caused an error on the client side simx_error_initialize_error_flag =0x000040 # simxStart was not yet called