Trigger callback functions

Script objects can include a trigger callback function (which is one of many system callback functions), when the script object's parent is a vision sensor or a proximity sensor.

A vision sensor can generate the trigger signal inside of the vision callback function. The trigger callback (if present) is then called as in following example:

#python
    
    def sysCall_trigger(inData):
    """
    We have:
    inData['handle'] : the handle of the vision sensor.
    inData['packedPackets'] : an array of data packets, packed (use sim.unpackFloatTable to unpack)
    the first data packet always contains 15 auxiliary values about the acquired image:
    - minimum of {intensity, red, green blue and depth value}
    - maximum of {intensity, red, green blue and depth value}
    - average of {intensity, red, green blue and depth value}
    """
    
    outData = {}
    outData['trigger'] = True
    return outData

--lua
    
    function sysCall_trigger(inData)
    -- We have:
    -- inData.handle : the handle of the vision sensor.
    -- inData.packedPackets : an array of data packets, packed (use sim.unpackFloatTable to unpack)
    --    the first data packet always contains 15 auxiliary values about the acquired image:
    --    - minimum of {intensity, red, green blue and depth value}
    --    - maximum of {intensity, red, green blue and depth value}
    --    - average of {intensity, red, green blue and depth value}
    
    local outData = {}
    outData.trigger = true
    return outData
    end

A proximity sensor generates the trigger signal when an object is detected. The trigger callback (if present) is then called as in following example:

#python

def sysCall_trigger(inData):
    """
    We have:
    inData['handle'] : the handle of the proximity sensor.
    inData['detectedObjectHandle'] : handle of detected object
    inData['detectedPoint'] : detected point, relative to sensor frame
    inData['normalVector'] : normal vector at detected point, relative to sensor frame
    """

    outData = {}
    outData['trigger'] = True
    return outData

--lua

function sysCall_trigger(inData)
    -- We have:
    -- inData.handle : the handle of the proximity sensor.
    -- inData.detectedObjectHandle : handle of detected object
    -- inData.detectedPoint : detected point, relative to sensor frame
    -- inData.normalVector : normal vector at detected point, relative to sensor frame

    local outData = {}
    outData.trigger = true
    return outData
end