Regular API function
simHandleProximitySensor / sim.handleProximitySensor
Description
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Handles (performs sensing, etc. of) a registered proximity sensor object. See also sim.readProximitySensor, sim.checkProximitySensor, sim.checkProximitySensorEx and sim.resetProximitySensor.
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C/C++ synopsis
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simInt simHandleProximitySensor(simInt sensorHandle,simFloat* detectedPoint,simInt* detectedObjectHandle,simFloat* detectedSurfaceNormalVector)
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C/C++ parameters |
sensorHandle: handle of a proximity sensor object or sim.handle_all or sim.handle_all_except_explicit. (sim.handle_all will handle all proximity sensor objects, while sim.handle_all_except_explicit will only handle those that are not marked as "explicit handling")
detectedPoint: coordinates of the closest detected point (x, y and z: detectedPoint[0]-detectedPoint[2]) relative to the sensor reference frame, and distance to the detected point (1 value: detectedPoint[3]). Can be nullptr
detectedObjectHandle: handle of the object that was detected. Can be nullptr
detectedSurfaceNormalVector: normal vector (normalized) of the detected surface. Relative to the sensor reference frame. Can be nullptr
When several proximity sensors are handled at the same time (e.g. with the sim.handle_all argument), then the output values are relative to the closest detection distance
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C/C++ return value
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0 if nothing was detected, -1 in case of an error.
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Lua synopsis
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int result,float distance,float[3] detectedPoint,int detectedObjectHandle,float[3] detectedSurfaceNormalVector=sim.handleProximitySensor(int sensorHandle)
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Lua parameters |
sensorHandle: handle of a proximity sensor object or sim.handle_all or sim.handle_all_except_explicit. (sim.handle_all will handle all proximity sensor objects, while sim.handle_all_except_explicit will only handle those that are not marked as "explicit handling") |
Lua return values
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result: 0 if nothing was detected
distance: distance to the detected point
detectedPoint: table of 3 numbers indicating the relative coordinates of the detected point
detectedObjectHandle: handle of the object that was detected
detectedSurfaceNormalVector: normal vector (normalized) of the detected surface. Relative to the sensor reference frame.
When several proximity sensors are handled at the same time (e.g. with the sim.handle_all argument), then the return values are relative to the closest detection distance
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Python synopsis |
int result,float distance,list detectedPoint,int detectedObjectHandle,list detectedSurfaceNormalVector=sim.handleProximitySensor(int sensorHandle) |
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