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apiConstants

regular API constants

General object types

sim.appobj_object_type

sim.appobj_collision_type

sim.appobj_distance_type

sim.appobj_simulation_type

sim.appobj_collection_type

sim.appobj_script_type

sim.appobj_texture_type

Scene object types

sim.object_shape_type

sim.object_joint_type

sim.object_graph_type

sim.object_camera_type

sim.object_light_type

sim.object_dummy_type

sim.object_proximitysensor_type

sim.object_octree_type

sim.object_pointcloud_type

sim.object_visionsensor_type

sim.object_forcesensor_type

See also the sim.getObjectType and sim.getObjectsInTree functions.

Scene object sub-types

sim.light_omnidirectional_subtype

sim.light_spot_subtype

sim.light_directional_subtype

sim.joint_revolute_subtype

sim.joint_prismatic_subtype

sim.joint_spherical_subtype

sim.shape_simpleshape_subtype

sim.shape_multishape_subtype

sim.proximitysensor_ray_subtype

sim.proximitysensor_pyramid_subtype

sim.proximitysensor_cylinder_subtype

sim.proximitysensor_disc_subtype

sim.proximitysensor_cone_subtype

Scene object properties

sim.objectproperty_ignoreviewfitting

sim.objectproperty_collapsed

sim.objectproperty_selectable

sim.objectproperty_selectinvisible

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

sim.objectproperty_depthinvisible

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

sim.objectproperty_selectmodelbaseinstead

sim.objectproperty_dontshowasinsidemodel

sim.objectproperty_cannotdelete

sim.objectproperty_cannotdeleteduringsim

See also the sim.getObjectProperty and sim.setObjectProperty functions.

Scene object special properties (can be combined with the OR operator)

sim.objectspecialproperty_collidable

sim.objectspecialproperty_measurable

sim.objectspecialproperty_detectable

See also the sim.getObjectSpecialProperty and sim.setObjectSpecialProperty functions.

Model properties

sim.modelproperty_not_collidable

sim.modelproperty_not_measurable

sim.modelproperty_not_detectable

sim.modelproperty_not_dynamic

sim.modelproperty_not_respondable

sim.modelproperty_not_visible

model is not visible, independently from local visibility settings

sim.modelproperty_scripts_inactive

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

sim.modelproperty_not_showasinsidemodel

model will be invisible to other model's bounding boxes

sim.modelproperty_not_model

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

See also the sim.getModelProperty and sim.setModelProperty functions.

Simulator messages

Following messages can be queried from a script, by calling the sim.getSimulatorMessage function:

sim.message_model_loaded

sim.message_scene_loaded

sim.message_keypress

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

sim.message_bannerclicked

auxiliaryData[0]=banner ID

sim.message_prox_sensor_select_down

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.

auxiliaryData[0]=objectID

auxiliaryData2[0]-auxiliaryData2[2]=coordinates of clicked point

auxiliaryData2[3]-auxiliaryData2[5]=normal vector of clicked surface

sim.message_prox_sensor_select_up

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.

auxiliaryData[0]=objectID

auxiliaryData2[0]-auxiliaryData2[2]=coordinates of clicked point

auxiliaryData2[3]-auxiliaryData2[5]=normal vector of clicked surface

sim.message_pick_select_down

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.

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

Following messages can be queried from the CoppeliaSim client application (and only from the client application!), by calling the simGetSimulatorMessage function:

sim_message_simulation_start_resume_request

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

sim_message_simulation_pause_request

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

sim_message_simulation_stop_request

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

Following messages are dispatched to the plugins (refer to the plugin simMessage entry point):

sim_message_eventcallback_instancepass

Called once every main client application loop pass. auxiliaryData[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

sim_message_eventcallback_uipass

Called just after sim_message_eventcallback_instancepass, but from the UI thread

sim_message_eventcallback_lastinstancepass

Last call from the simulation thread to the plugin, that is unloading

sim_message_eventcallback_instanceswitch

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

auxiliaryData[0]: do not use

auxiliaryData[1]=current scene unique ID

sim_message_eventcallback_instanceabouttoswitch

we are about to switch to a different scene

auxiliaryData[0]: do not use

auxiliaryData[1]=next scene unique ID

sim_message_eventcallback_scriptstatedestroyed

The specified script state is destroyed

auxiliaryData[0]: script handle

sim_message_eventcallback_scriptdestroyed

The specified script is destroyed

auxiliaryData[0]: script handle

sim_message_eventcallback_menuitemselected (called from the UI thread

auxiliaryData[0]=handle of the item

auxiliaryData[1]=state of the item

sim_message_eventcallback_scenesave

about to save a scene

sim_message_eventcallback_modelsave

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

sim_message_eventcallback_abouttoundo

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

sim_message_eventcallback_undoperformed

the undo button was hit and a previous state was restored

sim_message_eventcallback_abouttoredo

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

sim_message_eventcallback_redoperformed

the redo button was hit and a future state was restored

sim_message_eventcallback_scripticondblclick (called from the UI thread)

a script icon in the hierarchy view was double-clicked

auxiliaryData[0]=object handle of the object associated with the script

replyData[0]: set to 1 if you do not want the double-click action to open the script editor

sim_message_eventcallback_simulationabouttostart

simulation will start

sim_message_eventcallback_simulationabouttoend

simulation will end

sim_message_eventcallback_simulationended

simulation has ended

sim_message_eventcallback_simulationinit

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

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

sim_message_eventcallback_simulationactuation

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

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

auxiliaryData[1]: simulation time in ms

sim_message_eventcallback_simulationsensing

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

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

auxiliaryData[1]: simulation time in ms

sim_message_eventcallback_simulationcleanup

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

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

sim_message_eventcallback_keypress (called from the UI thread)

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

sim_message_eventcallback_bannerclicked (called from the UI thread)

called when a banner was clicked (auxiliaryData[0]=banner ID)

sim_message_eventcallback_refreshdialogs (called from the UI thread)

called just before dialogs are refreshed in CoppeliaSim.

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

sim_message_eventcallback_sceneloaded

called after a scene was loaded

sim_message_eventcallback_modelloaded

called after a model was loaded

sim_message_eventcallback_mainscriptabouttobecalled

Called just before the main script is called. If a plugin intercepts this message and writes a value different from -1 into replyData[0], the main script will not be called.