regular API constants

with this flag, an object will be ignored during the selection process

with this flag, an object will be ignored during the depth rendering pass

model is not visible, independently from local visibility settings

all simulation- and customization scripts will be disabled for the given model

model will be invisible to other model's bounding boxes

specified object is not a model. Use with care when setting this value

auxData[0]=key, auxData[1]=ctrl and shift key state

a "geometric" click select (mouse down) was registered. Not generated if the ctrl or shift key is down. A geometric click is generated in a non-delayed manner. See also sim.message_pick_select_down hereafter. Enable with sim.intparam_prox_sensor_select_down.

auxData[0]=objectID

auxData2[0]-auxData2[2]=coordinates of clicked point

auxData2[3]-auxData2[5]=normal vector of clicked surface

a "geometric" click select (mouse up) was registered. Not generated if the ctrl or shift key is down. A geometric click is generated in a non-delayed manner. Enable with sim.intparam_prox_sensor_select_up.

auxData[0]=objectID

auxData2[0]-auxData2[2]=coordinates of clicked point

auxData2[3]-auxData2[5]=normal vector of clicked surface

a "pick" click select (mouse down) was registered. Not generated if the ctrl or shift key is down. A pick click is generated in a delayed manner. See also sim.message_prox_sensor_select_down here above.

auxData[0]=objectID or base object ID (if part of a model and select model base instead is checked)

The user wishes to start/resume a simulation. See also the simStartSimulation function

The user wishes to pause a simulation. See also the simPauseSimulation function

The user wishes to stop a simulation. See also the simStopSimulation function

Called once every main client application loop pass. auxData[0] contains event flags of events that happened since last time. If you react to some of below event flags, make sure you do not react to their equivalent event callback message (e.g. sim_message_eventcallback_sceneloaded is similar to below's bit3 set)

bit0 set: object(s) erased

bit1 set: object(s) created

bit2 set: model loaded

bit3 set: scene loaded

bit4 set: undo called

bit5 set: redo called

bit6 set: scene switched (react to this message in a similar way as you would react to a full scene content change)

bit7 set: edit mode active. This is not an event flag, but a state flag

bit8 set: object(s) scaled

bit9 set: selection state changed. (different objects are selected now)

bit10 set: key pressed

bit11 set: simulation started

bit12 set: simulation ended

scene was switched (react to this message in a similar way as you would react to a full scene content change)

auxData[0]: do not use

auxData[1]=current scene unique ID

we are about to switch to a different scene

auxData[0]: do not use

auxData[1]=next scene unique ID

The specified script state is about to be destroyed

auxData[0]: script handle

auxData[1]: script UID

The specified script is about to be destroyed

auxData[0]: script handle

auxData[1]: script UID

auxData[0]=handle of the item

auxData[1]=state of the item

about to save a scene

about to save a model (current selection will be saved)

the undo button was hit and a previous state is about to be restored

the undo button was hit and a previous state was restored

the redo button was hit and a future state is about to be restored

the redo button was hit and a future state was restored

simulation will start

simulation will end

simulation has ended

Called just before/after the main script's corresponding init section.

auxData[0]: 0 if called before, 1 if called after

Called just before/after the main script's corresponding actuation section.

auxData[0]: 0 if called before, 1 if called after

auxData[1]: simulation time in ms

Called just before/after the main script's corresponding sensing section.

auxData[0]: 0 if called before, 1 if called after

auxData[1]: simulation time in ms

Called just before/after the main script's corresponding cleanup section.

auxData[0]: 0 if called before, 1 if called after

auxData[0]=key, auxData[1]=ctrl and shift key state

called just before dialogs are refreshed in CoppeliaSim.

auxData[0]=refresh degree (0=light, 1=medium, 2=full)

called after a scene was loaded

called after a model was loaded

Called just before the main script is called. A plugin can write a value different from -1 into auxData[0] to temporarily halt simulation progress (e.g. stepping mode)

Called when a custom menu item is selected. auxData[0]=item handle.

Called to dispatch events. auxPointer is a const unsigned char*, holding the CBOR-coded events, auxData[0] indicates the number of events

can be combined with sim_script_arg_table

can be combined with sim_script_arg_table

can be combined with sim_script_arg_table

can be combined with sim_script_arg_table

can be combined with sim_script_arg_table

can be combined with sim_script_arg_table

CANNOT be combined with sim_script_arg_table

items are pixel-sized points (3 values per item (x;y;z))

items are pixel-sized lines (6 values per item (x0;y0;z0;x1;y1;z1))

items are pixel-sized lines (3 values per line strip corner or end-point)

items are triangles (9 values per item (x0;y0;z0;x1;y1;z1;x2;y2;z2))

items are "triangle points" (7 values per item (x;y;z;Qx;Qy;Qz;Qw) (Q=quaternion)))

items are "rectangle points" (7 values per item (x;y;z;Qx;Qy;Qz;Qw) (Q=quaternion)))

items are "disc points" (7 values per item (x;y;z;Qx;Qy;Qz;Qw) (Q=quaternion)))

items are "cube points" (7 values per item (x;y;z;Qx;Qy;Qz;Qw) (Q=quaternion)))

items are "sphere points" (3 values per item (x;y;z))

if the drawing object is full, then the first items are overwritten

coordnate data has to be specified locally, if the drawing object is attached to an object

will be rendered by vision sensors too

will be rendered on top of scene objects

items are displayed as 1 pixel-sized points (internally handled as a perfect sphere)

items are displayed as 2 pixel-sized points (internally handled as a perfect sphere)

items are displayed as 4 pixel-sized points (internally handled as a perfect sphere)

items are displayed as rough spheres (internally handled as a perfect sphere)

items are displayed as spheres

the particles are respondable against shapes that have at least one bit 1-4 activated in the global respondable mask

the particles are respondable against shapes that have at least one bit 5-8 activated in the global respondable mask

the particles are respondable against each other

the particles ignore the effect of gravity

the particles are invisible

the particles are visible when seen from vision sensors. sim.particle_invisible must not be set

if the max particle count was reached, then the first particles are overwritten

particles are water particles (no weight in the water (i.e. when z<0)). In addition to that, particles can have drag coefficients for the water and the air. Not compatible with sim.particle_ignoresgravity

displays warning/error messages when loading a scene/model/UI from the API

setting this to false allows you to enter the fast simulation mode. This value can be set back to true at any time by the system

can only be read/written during simulation.

whether the simulator runs without GUI. Can only be read.

Will trigger the calculation of all visible shapes' calculation structures (needed for collision detection, distance calculation or proximity sensor operation). Might take some time.

Will trigger the calculation of all shapes' calculation structures (needed for collision detection, distance calculation or proximity sensor operation). Might take some time.

Posts the exit command. Can only be written, and has only an effect when simulation is not running and no edit mode is enabled. See also sim.quitSimulator.

Indicates that the current scene is closing. Can only be read.

Indicates that the ray data is valid. Can only be read.

e.g Version 2.1.4 becomes 20104. Can only be read. See also sim.intparam_program_revision and sim.intparam_program_full_version.

Can only be read. See also sim_intparam_program_version.

e.g Version 2.1.4 rev5 becomes 2010405. Can only be read.

start of custom command IDs. Can only be read

0=CoppeliaSim Edu version, 1=CoppeliaSim Pro version, 2=CoppeliaSim Player version. Can only be read

Can only be read

Represents the number of calculation passes of the dynamics module for each simulation pass. This might be not constant during a simulation. Can be 0 when sim.handleDynamics wasn't yet called. Can only be read

0=Bullet, 1=ODE, 2=Vortex, 3=Newton, 4=MuJoCo.

together with sim.intparam_server_port_next and sim.intparam_server_port_range, indicates which local ports can be used. Can only be read

together with sim.intparam_server_port_next and sim.intparam_server_port_start, indicates which local ports can be used. Can only be read

Indicates which local ports can be used next. Once that port was used, update this value according to the values stored in sim.intparam_server_port_start and sim.intparam_server_port_range

allowed values are 0-2

Use with care, and always reset to initial values at simulation end

bit1: edge antialiasing

bit2: world reference display

bit3: bounding box display

bit4: don't use Frame Buffer Objects for vision sensors

bit5: undo/redo enabled

Can only be read:

0: no edit mode

1: triangle edit mode

2: vertex edit mode

3: edge edit mode

4: path edit mode

5: button edit mode

6: compound shapes edit mode

The Qt version. Can only be read

Some event flags. Can only be read:

bit0 set: object(s) erased

bit1 set: object(s) created

bit2 set: model loaded

bit3 set: scene loaded

bit4 set: undo called

bit5 set: redo called

bit6 set: scene switched (react to this message in a similar way as you would react to a full scene content change)

bit7 set: edit mode active. This is not an event flag, but a state flag

bit8 set: object(s) scaled

bit9 set: selection state changed. (different objects are selected now)

bit10 set: key pressed

bit11 set: simulation started

bit12 set: simulation ended

Some event flags. Reads the flags and clears them right after

0=Windows, 1=Macintosh, 2=Linux. Can only be read

A unique ID for the current scene. Different from one scene load to the next. Useful to identify scene switches. Can only be read. See also sim.stringparam_scene_unique_id

Bit-coded: bit0 set=left button, bit1 set=middle wheel activity, bit2 set=right button, bit3 set=middle wheel down.

The number of cores on this machine. Can only be read.

a counter that is incremented each time a stop simulation request arrives (e.g. via the toolbar button, menu, etc.)

a bit-coded mask that allows to temporarily disable warning messages from the physics engine:

a bit-coded mask that allows to temporarily disable warning messages related to simulation:

when written, will be executed in a delayed fashion.

Specify a value that initializes the random number generator for the motion planning functionality. Can only be written.

Can only be read/written when simulation is not stopped.

the console verbosity level.

the status bar verbosity level.

the verbosity level of simple dialogs.

a simple mouse down counter, for mouse clicks. Cannot be written

a simple mouse up counter, for mouse clicks. Cannot be written

changes when an object is created. Cannot be written

changes when an object is destroyed. Cannot be written

changes when an object changes its parent. Cannot be written

the level of deprecation message notifications. Cannot be written

the process ID of this CoppeliaSim instance. Cannot be written

the number of CoppeliaSim instances. Cannot be written

Returns a random value in the range [0.0;1.0]. Useful when called from Lua since each script instance will initialize its random number generator in a same way, and thus, 'random' values generated in different scripts will be relatively 'similar'. This is not the case with this random value. Can only be read. See also sim.getRandom, math.random2 and math.randomseed2.

The simulation time step (i.e. dt). Can only be written when using a custom dt value (which can be set in the simulation dialog), and when simulation is stopped.

The camera intra occular distance when in 3D OpenGl stereo mode.

The step size of the physics engine.

The maximum triangle size (absolute), for mesh calculation structures

The minimum triangle size (relative), for mesh calculation structures

can only be read

can only be read

can only be read

can only be read

path + filename without extension

A unique ID for the current scene. The id will be same if the scene if opened several times. Can only be read. See also sim.intparam_scene_unique_id

the 1st argument specified via command line option -g

the 2nd argument specified via command line option -g

the 3rd argument specified via command line option -g

the 4th argument specified via command line option -g

the 5th argument specified via command line option -g

the 6th argument specified via command line option -g

the 7th argument specified via command line option -g

the 8th argument specified via command line option -g

the 9th argument specified via command line option -g

Can only be written.

Can only be written.

Can only be written.

Format as: txta1&txta2&...&txtaN|txtb1&txtb2&...&txtbN|...

Can only be read.

Can only be read.

Can only be read.

Can only be read.

Can only be read.

Can only be read. Path + name of the calling add-on. See also sim.stringparam_addondir

Can only be read.

Can only be read.

Can only be read.

Can only be read.

Can only be read.

Use global verbosity (can be used to reset a plugin's verbosity to the global verbosity again)

No verbosity

System and plugin error messages

System and plugin warning messages

Messages related to CoppeliaSim start-up and shut-down. Default console verbosity.

Messages related to question dialogs.

Script error messages

Script warning messages

Information messages mainly related to scripts. Default status bar verbosity.

General information messages

Debug messages

Plugin trace messages

Script calls to API functions

Full verbosity

Default verbosity (normally sim.verbosity_loadinfos)

Extended version string

Build date string

Extended version integer

Console verbosity. see the various verbosity levels

Status bar verbosity. see the various verbosity levels

3 floats

3 floats: fog start, fog end, fog density

3 floats

3 floats

3 floats

3 floats

3 floats. Can only be read.

3 floats indicating the origin of the current camera-mouse ray. Can only be read

3 floats indicating the direction of the current camera-mouse ray. Can only be read

sim.ruckig_phasesync (default)

sim.ruckig_timesync

sim.ruckig_nosync

with sim.buffer_uint8,sim.buffer_uint8rgb,sim.buffer_base64 (multiplier and offset are ignored),sim.buffer_split (multiplier is ignored, offset is the split size)

with sim.buffer_uint8rgb,sim.buffer_uint8bgr,sim.buffer_uint8

with sim.buffer_uint8bgr,sim.buffer_uint8rgb,sim.buffer_uint8

with sim.buffer_uint8rgba,sim.buffer_uint8rgb

with sim.buffer_uint8argb,sim.buffer_uint8rgb

with sim.buffer_uint8, sim.buffer_int8, sim.buffer_uint16, sim.buffer_int16, sim.buffer_uint32,

sim.buffer_int32,sim.buffer_float,sim.buffer_double,sim.buffer_uint8rgb

with sim.buffer_uint8, sim.buffer_int8, sim.buffer_uint16, sim.buffer_int16, sim.buffer_uint32,

sim.buffer_int32,sim.buffer_float,sim.buffer_double,sim.buffer_uint8rgb

with sim.buffer_uint8

See also the Vortex friction models.

See also the Vortex friction models.

See also the Vortex friction models.

See also the Vortex friction models.

See also the Vortex friction models.