API Constants

General object types

sim.appobj_object_type
sim.appobj_collision_type
sim.appobj_distance_type
sim.appobj_simulation_type
sim.appobj_ik_type
sim.appobj_constraintsolver_type
sim.appobj_collection_type
sim.appobj_ui_type
sim.appobj_script_type
sim.appobj_texture_type

See also the sim.isHandleValid function.

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_path_type
sim.object_visionsensor_type
sim.object_mill_type
sim.object_forcesensor_type
sim.object_mirror_type

See also the sim.getObjectType and sim.getObjects 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
sim.mill_pyramid_subtype
sim.mill_cylinder_subtype
sim.mill_disc_subtype
sim.mill_cone_subtype

Scene object properties

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_canupdatedna
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_ultrasonic
sim.objectspecialproperty_detectable_infrared
sim.objectspecialproperty_detectable_laser
sim.objectspecialproperty_detectable_inductive
sim.objectspecialproperty_detectable_capacitive
sim.objectspecialproperty_detectable_all
sim.objectspecialproperty_renderable
sim.objectspecialproperty_cuttable

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

Model properties

sim.modelproperty_not_collidable
sim.modelproperty_not_measurable
sim.modelproperty_not_renderable
sim.modelproperty_not_detectable
sim.modelproperty_not_cuttable
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.

IK calculation methods

sim.ik_pseudo_inverse_method
sim.ik_damped_least_squares_method
sim.ik_jacobian_transpose_method

See also the sim.setIkGroupProperties function.

IK constraints (can be combined with the OR operator)

sim.ik_x_constraint
sim.ik_y_constraint
sim.ik_z_constraint
sim.ik_alpha_beta_constraint
sim.ik_gamma_constraint
sim.ik_avoidance_constraint

See also the sim.setIkElementProperties function.

IK calculation results

sim.ikresult_not_performed
sim.ikresult_success
sim.ikresult_fail

See also the sim.handleIkGroup function.

Simulator messages

Following messages can be queried from Lua, 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 V-REP 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 v_repMessage 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_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_menuitemselected (called from the UI thread)
auxiliaryData[0]=handle of the item
auxiliaryData[1]=state of the item
sim_message_eventcallback_broadcast
auxiliaryData[0]=header (e.g. a large, random identifier, or your V-REP serial number)
auxiliaryData[1]=message ID
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_moduleopen
called when sim.openModule in Lua is called
customData=name of the plugin to execute the command, or NULL if all should execute the command
sim_message_eventcallback_modulehandle
called when sim.handleModule in Lua is called with second argument false
customData=name of the plugin to execute the command, or NULL if all should execute the command
sim_message_eventcallback_modulehandleinsensingpart
called when sim.handleModule in Lua is called with second arg. true
customData=name of the plugin to execute the command, or NULL if all should execute the command
sim_message_eventcallback_moduleclose
called when sim.closeModule in Lua is called
customData=name of the plugin to execute the command, or NULL if all should execute the command
sim_message_eventcallback_renderingpass (called from the UI thread)
called just before the scene is rendered. Enable via simEnableEventCallback.
sim_message_eventcallback_beforerendering
called just before the scene is rendered, but still from the main simulation thread. Only called when in non-threaded rendering mode.
sim_message_eventcallback_imagefilter_enumreset
"reset enumeration" message for filter plugins
sim_message_eventcallback_imagefilter_enumerate
"enumerate" message for filter plugins
replyData[0]=header ID
replyData[1]=filterID. A positive ID (including 0) represents a filter whose parameters can be edited. A filter with a negative ID cannot be edited.
Return the filter's name as the callback return value (allocate the buffer with the simCreateBuffer function)
sim_message_eventcallback_imagefilter_adjustparams (called from the UI thread)
"edit filter parameters" message for filter plugins
auxiliaryData[0]=header ID
auxiliaryData[1]=filter ID
auxiliaryData[2]=size in bytes of the filter parameter buffer to be edited
customData=filter parameter buffer. Can be NULL (is NULL when filter parameters were never edited)
replyData[0]=size in bytes of the edited filter parameter buffer returned as the callback return buffer. That buffer has to be allocated with the simCreateBuffer command and is automatically released by V-REP upon callback return.
sim_message_eventcallback_imagefilter_process (called from the UI thread)
"do image processing" message for filter plugins
auxiliaryData[0]=header ID
auxiliaryData[1]=filter ID
auxiliaryData[2]=resolution X
auxiliaryData[3]=resolution Y
auxiliaryData[4]=vision sensor handle (available from V-REP 3.1.0 only)
customData[0]=input image (size: x*y*3 floats)
customData[1]=input depth image (size: x*y floats)
customData[2]=work image (size: x*y*3 floats)
customData[3]=buffer image 1 (size: x*y*3 floats)
customData[4]=buffer image 2 (size: x*y*3 floats)
customData[5]=output image (size: x*y*3 floats)
customData[6]=filter parameter buffer (size: custom), can be NULL (is NULL when filter parameters were never edited)
replyData[0]=1 if the sensor should trigger a detection, 0 otherwise
replyData[1]=number of float values returned, representing auxiliary information (that can be retrieved with sim.handleVisionSensor). The auxiliary information can represent a vector, a direction, any result from an image processing algorithm. Allocate the return float buffer with simCreateBuffer
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_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 disloags are refreshed in V-REP.
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_guipass (called from the UI thread)
Called on a regular basis from the GUI thread.
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.
sim_message_eventcallback_rmlpos
the command sim.rmlPos was called. The appropriate plugin should handle the call
sim_message_eventcallback_rmlvel
the command sim.rmlVel was called. The appropriate plugin should handle the call
sim_message_eventcallback_rmlstep
the command sim.rmlStep was called. The appropriate plugin should handle the call
sim_message_eventcallback_rmlremove
the command sim.rmlRemove was called. The appropriate plugin should handle the call
sim_message_eventcallback_pathplanningplugin
a path planning function was called. The appropriate plugin (i.e. 'PathPlanning') should handle the call
sim_message_eventcallback_colladaplugin
a collada plugin function was called. The appropriate plugin (i.e. 'Collada') should handle the call
sim_message_eventcallback_opengl. Enable via simEnableEventCallback. (called from the UI thread)
the user can perform openGl calls from the plugin, in order to draw custom graphics into the V-REP scene. This has a different functionality from the sim.addDrawingObject API function. Following data is sent to the plugins:
auxiliaryData[0]=index of the program location where the call occured (e.g. 0=before first V-REP rendering, 5=after last V-REP rendering). Refer to the source code for details.
auxiliaryData[2]=handle of the camera
auxiliaryData[3]=index of the view, or -1 if view is unassociated
sim_message_eventcallback_openglframe. Enable via simEnableEventCallback. (called from the UI thread)
a callback with the full rendered opengl frame data (that can be modified, then returned):
customData (unsigned char*): RGB data of the image.
auxiliaryData[0]=picture size X
auxiliaryData[1]=picture size Y
auxiliaryData[2]=0
auxiliaryData[3]=0. If you want V-REP to take into account any modification on the buffer, write 1 in here.
sim_message_eventcallback_openglcameraview. Enable via simEnableEventCallback. (called from the UI thread)
a callback with the rendered opengl camera view (that can be modified, then returned):
customData (unsigned char*): RGB data of the image.
auxiliaryData[0]=picture size X
auxiliaryData[1]=picture size Y
auxiliaryData[2]=view index
auxiliaryData[3]=0. If you want V-REP to take into account any modification on the buffer, write 1 in here.
sim_message_eventcallback_proxsensorselectdown
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_eventcallback_pickselectdown hereafter. Enable with sim.intparam_prox_sensor_select_down.
auxiliaryData[0]=objectID
customData[0]-customData[2]=coordinates of clicked point
customData[3]-customData[5]=normal vector of clicked surface
sim_message_eventcallback_proxsensorselectup
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
customData[0]-customData[2]=coordinates of clicked point
customData[3]-customData[5]=normal vector of clicked surface
sim_message_eventcallback_pickselectdown (called from the UI thread)
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_eventcallback_proxsensorselectdown here above.
auxiliaryData[0]=objectID or base object ID (if part of a model and select model base instead is checked)

Types of argument (input and output) for exchanging simple data between scripts and plugins

sim_script_arg_null
can be combined with sim_script_arg_table
sim_script_arg_bool
can be combined with sim_script_arg_table
sim_script_arg_int32
can be combined with sim_script_arg_table
sim_script_arg_float
can be combined with sim_script_arg_table
sim_script_arg_double
can be combined with sim_script_arg_table
sim_script_arg_string
can be combined with sim_script_arg_table
sim_script_arg_charbuff
CANNOT be combined with sim_script_arg_table
sim_script_arg_invalid
sim_script_arg_table

See also the simRegisterScriptCallbackFunction function.

Rendering attributes

sim.displayattribute_renderpass
sim.displayattribute_depthpass
sim.displayattribute_pickpass
sim.displayattribute_selected
sim.displayattribute_groupselection
sim.displayattribute_mainselection
sim.displayattribute_forcewireframe
sim.displayattribute_forbidwireframe
sim.displayattribute_forbidedges
sim.displayattribute_originalcolors
sim.displayattribute_ignorelayer
sim.displayattribute_forvisionsensor
sim.displayattribute_trianglewireframe
sim_displayattribute_simplifyasboundingbox
sim.displayattribute_thickedges
sim.displayattribute_dynamiccontentonly
sim.displayattribute_mirror
sim.displayattribute_useauxcomponent
sim.displayattribute_ignorerenderableflag
sim.displayattribute_noopenglcallbacks
sim.displayattribute_noghosts
sim.displayattribute_nopointclouds
sim.displayattribute_nodrawingobjects
sim.displayattribute_noparticles
sim.displayattribute_colorcodedtriangles

See also the sim_message_eventcallback_opengl constant.

Simulation status

sim.simulation_stopped
sim.simulation_paused
sim.simulation_advancing_firstafterstop
sim.simulation_advancing_running
sim.simulation_advancing_lastbeforepause
sim.simulation_advancing_firstafterpause
sim.simulation_advancing_abouttostop
sim.simulation_advancing_lastbeforestop

See also the sim.getSimulationState function.

Main script execution result (might change in the future)

sim_script_no_error
sim_script_main_script_nonexistent
sim_script_main_script_not_called
sim_script_reentrance_error
sim_script_lua_error

See also the simHandleMainScript function.

Script types

sim.scripttype_mainscript
sim.scripttype_childscript
can be combined with sim.scripttype_threaded
sim.scripttype_addonscript
sim.scripttype_addonfunction
sim.scripttype_customizationscript
sim.scripttype_sandboxscript

sim.scripttype_threaded
can only be used if combined with sim.scripttype_childscript

See also the sim.getScriptProperty function.

Script attributes

sim.scriptattribute_executionorder
Integer attribute, see the script execution order
sim.scriptattribute_executioncount
Integer attribute
sim.scriptattribute_enabled
Boolean attribute

See also the sim.getScriptAttribute function.

Script execution order

sim.scriptexecorder_first
sim.scriptexecorder_normal
sim.scriptexecorder_last

See also the script attributes.

Threaded child script resume locations

sim.scriptthreadresume_default
the default resume location (before sim.scriptthreadresume_actuation_first)
sim.scriptthreadresume_actuation_first
just before non-threaded child scripts are handled in the actuation phase
sim.scriptthreadresume_actuation_last
just after non-threaded child scripts were handled in the actuation phase
sim.scriptthreadresume_sensing_first
just before non-threaded child scripts are handled in the sensing phase
sim.scriptthreadresume_sensing_last
just after non-threaded child scripts were handled in the sensing phase
sim.scriptthreadresume_custom
start value for user defined resume locations
sim.scriptthreadresume_allnotyetresumed
will resume all threads that have not yet been resumed

API error message report modes (can be bit-combined)

sim.api_error_report
Errors messages can be fetched with sim.getLastError.
sim.api_error_output
Errors messages are output (to the console or to the status bar) and can also be fetched with sim.getLastError.
sim.api_warning_output
Warning messages are output (to the console or to the status bar).

See also the sim.intparam_error_report_mode constant, the sim.getInt32Parameter, sim.setInt32Parameter and sim.getLastError functions.

Special argument values

sim.handle_all
sim.handle_all_except_explicit
sim.handle_self
sim.handle_main_script
sim.handle_tree
sim.handle_chain
sim.handle_single
sim.handle_default
sim.handle_all_except_self
sim.handle_parent
sim.handle_scene
sim.handle_app

Special handle flags

sim.handleflag_assembly
sim.handleflag_model
sim.handleflag_rawvalue
sim.handleflag_togglevisibility
sim.handleflag_greyscale
sim.handleflag_codedstring
sim.handleflag_camera
sim.handleflag_altname
sim.handleflag_silenterror

Generic dialog styles

sim.dlgstyle_message
sim.dlgstyle_input
sim.dlgstyle_ok
sim.dlgstyle_ok_cancel
sim.dlgstyle_yes_no
sim.dlgstyle_dont_center (can be OR-combined with one of above values)

See also the sim.displayDialog function.

Generic dialog return values

sim.dlgret_still_open
sim.dlgret_ok
sim.dlgret_cancel
sim.dlgret_yes
sim.dlgret_no

See also the sim.getDialogResult function.

Path object properties (can be combined with the OR operator)

sim.pathproperty_show_line
sim.pathproperty_show_orientation
sim.pathproperty_closed_path
sim.pathproperty_automatic_orientation
sim.pathproperty_flat_path
sim.pathproperty_show_position
sim.pathproperty_keep_x_up

Custom drawing objects

Drawing object type (combine with drawing object attributes):

sim.drawing_points
items are pixel-sized points (3 values per item (x;y;z) + auxiliary values)
sim.drawing_lines
items are pixel-sized lines (6 values per item (x0;y0;z0;x1;y1;z1) + auxiliary values)
sim.drawing_triangles
items are triangles (9 values per item (x0;y0;z0;x1;y1;z1;x2;y2;z2) + auxiliary values)
sim.drawing_trianglepoints
items are "triangle points" (6 values per item (x;y;z;Nx;Ny;Nz) (N=normal vector)) + auxiliary values)
sim.drawing_quadpoints
items are "rectangle points" (6 values per item (x;y;z;Nx;Ny;Nz) (N=normal vector)) + auxiliary values)
sim.drawing_discpoints
items are "disc points" (6 values per item (x;y;z;Nx;Ny;Nz) (N=normal vector)) + auxiliary values)
sim.drawing_cubepoints
items are "cube points" (6 values per item (x;y;z;Nx;Ny;Nz) (N=normal vector)) + auxiliary values)
sim.drawing_spherepoints
items are "sphere points" (3 values per item (x;y;z) + auxiliary values)

Drawing object attributes:

sim.drawing_itemcolors
each item has individual ambient_diffuse colors (+3 auxiliary values (red, green and blue)). Mutually exclusive with sim.drawing_vertexcolors
sim.drawing_vertexcolors
each item vertex has individual colors (+3 auxiliary values per vertex). Only for sim.drawing_lines or sim.drawing_triangles. Mutually exclusive with sim.drawing_itemcolors
sim.drawing_itemsizes
each item has individual sizes (+1 auxiliary value). Not for sim.drawing_triangles
sim.drawing_backfaceculling
items are back-face culled
sim.drawing_wireframe
items are displayed in wire frame
sim.drawing_painttag
items have a "paint"-tag, which means that items are renderable. If the items are attached to scene objects, then the scene object's renderable tag needs to be set too
sim.drawing_followparentvisibility
items attached to a scene object follow its visibility property
sim.drawing_cyclic
if the drawing object is full, then the first items are overwritten
sim.drawing_50percenttransparency
the drawing object will be 50 transparent
sim.drawing_25percenttransparency
the drawing object will be 25 transparent
sim.drawing_12percenttransparency
the drawing object will be 12.5 transparent
sim.drawing_emissioncolor
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
if specified, then sim.drawing_trianglepoints, sim.drawing_quadpoints, sim.drawing_discpoints and sim.drawing_cubepoints will be drawn to always face the cameras. In that case, the normal vector is not required anymore and should not be specified anymore (3 values instead of 6 values)
sim.drawing_overlay
if specified, then items are drawn on top of other objects and are (almost) always visible
sim.drawing_itemtransparency
each item has individual transparency values (+1 auxiliary value per item). Not compatible with sim.drawing_vertexcolors
sim.drawing_persistent
the object is not automatically removed when created via a simulation script. With sim.removeDrawingObject(sim.handle_all), all objects marked as persistent will also be removed.
sim.drawing_auxchannelcolor1
when specifying the emission color component in the sim.addDrawingObject function, 6 values should be specified instead of 3: 3 for the emission component, and 3 for the aux channel component
sim.drawing_auxchannelcolor2
When used in combination with sim.drawing_itemcolors or sim.drawing_vertexcolors, then the specified colors will be for the aux channel component

See also the sim.addDrawingObject function.

Banners

sim.banner_left
banners display on the left of the specified point
sim.banner_right
banners display on the right of the specified point
sim.banner_nobackground
banners have no background rectangle
sim.banner_overlay
when specified, banners are always drawn on top of "regular objects"
sim.banner_followparentvisibility
if the object is associated with a scene object, then it follows that visibility, otherwise it is alwaysvisible
sim.banner_clickselectsparent
if the object is associated with a scene object, then clicking the banner will select the scene object
sim.banner_clicktriggersevent
if the banner is clicked, an event is triggered (sim_message_eventcallback_bannerclicked and sim.message_bannerclicked are generated)
sim.banner_facingcamera
if specified, the banner will always face the camera by rotating it around its vertical axis (y-axis)
sim.banner_fullyfacingcamera
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
if specified, the banner will only be visible from one side
sim.banner_keepsamesize
if specified, the banner will always appear in the same size. In that case size represents the banner height in pixels
sim.banner_bitmapfont
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.

See also the sim.addBanner function.

Particle objects

Particle object type (combine with particle object attributes). Each item (particle) requires 6 values + auxiliary values, where the 6 values are: pt1x, pt1y, pt1z, pt2x, pt2y, pt2z (Pt1 is start position, pt2-pt1 is the initial velocity vector)

sim.particle_points1
items are displayed as 1 pixel-sized points (internally handled as a perfect sphere)
sim.particle_points2
items are displayed as 2 pixel-sized points (internally handled as a perfect sphere)
sim.particle_points4
items are displayed as 4 pixel-sized points (internally handled as a perfect sphere)
sim.particle_roughspheres
items are displayed as rough spheres (internally handled as a perfect sphere)
sim.particle_spheres
items are displayed as spheres

Particle object attributes:

sim.particle_respondable1to4
the particles are respondable against shapes that have at least one bit 1-4 activated in the global respondable mask
sim.particle_respondable5to8
the particles are respondable against shapes that have at least one bit 5-8 activated in the global respondable mask
sim.particle_particlerespondable
the particles are respondable against each other
sim.particle_ignoresgravity
the particles ignore the effect of gravity
sim.particle_invisible
the particles are invisible
sim.particle_painttag
the particles are visible when seen from vision sensors. sim.particle_invisible must not be set
sim.particle_cyclic
if the max particle count was reached, then the first particles are overwritten
sim.particle_itemsizes
+1 auxiliary value per particle (each particle can have a different size)
sim.particle_itemdensities
+1 auxiliary value per particle (each particle can have a different density)
sim.particle_itemcolors
+3 auxiliary values per particle (each particle can have a different ambient_diffuse color)
sim.particle_emissioncolor
when used in combination with sim.particle_itemcolors, then the specified colors will be for the emissive component
sim.particle_water
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

See also the sim.addParticleObject function.

Boolean parameters

sim.boolparam_hierarchy_visible
sim.boolparam_hierarchy_toolbarbutton_enabled
sim.boolparam_browser_visible
sim.boolparam_browser_toolbarbutton_enabled
sim.boolparam_objproperties_toolbarbutton_enabled
sim.boolparam_calcmodules_toolbarbutton_enabled
sim.boolparam_objectshift_toolbarbutton_enabled
sim.boolparam_objectrotate_toolbarbutton_enabled
sim.boolparam_play_toolbarbutton_enabled
sim.boolparam_pause_toolbarbutton_enabled
sim.boolparam_stop_toolbarbutton_enabled
sim.boolparam_console_visible
sim.boolparam_collision_handling_enabled
sim.boolparam_distance_handling_enabled
sim.boolparam_ik_handling_enabled
sim.boolparam_gcs_handling_enabled
sim.boolparam_dynamics_handling_enabled
sim.boolparam_proximity_sensor_handling_enabled
sim.boolparam_vision_sensor_handling_enabled
sim.boolparam_mill_handling_enabled
sim.boolparam_scene_and_model_load_messages
displays warning/error messages when loading a scene/model/UI from the API
sim.boolparam_shape_textures_are_visible
sim.boolparam_display_enabled
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
sim.boolparam_infotext_visible
sim.boolparam_statustext_open
sim.boolparam_fog_enabled
sim.boolparam_mirrors_enabled
sim.boolparam_aux_clip_planes_enabled
sim.boolparam_use_glfinish_cmd
sim.boolparam_force_show_wireless_emission
sim.boolparam_force_show_wireless_reception
sim.boolparam_video_recording_triggered
sim.boolparam_fullscreen
can only be read/written during simulation.
sim.boolparam_headless
whether the simulator runs without GUI. Can only be read.
sim.boolparam_force_calcstruct_all_visible
Will trigger the calculation of all visible shapes' calculation structures (needed for collision detection, distance calculation or proximity sensor operation). Might take some time.
sim.boolparam_force_calcstruct_all
Will trigger the calculation of all shapes' calculation structures (needed for collision detection, distance calculation or proximity sensor operation). Might take some time.
sim.boolparam_exit_request
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.
sim.boolparam_realtime_simulation
sim.boolparam_waiting_for_trigger
Tells whether V-REP is currently waiting for a trigger, when in synchronous operation. Should not be written, unless you know exactly what you are doing.
sim.boolparam_rosinterface_donotrunmainscript
Needed for the RosInterface synchronous mode.
sim.boolparam_scene_closing
Indicates that the current scene is closing. Can only be read.

See also the sim.getBoolParameter and sim.setBoolParameter functions.

Integer parameters

sim.intparam_error_report_mode
An error report mode. The error report mode will be valid for the current thread and/or script, i.e. each script has its own error handler, so does the C API functions (where the simulation thread and GUI thread are differentiated). See also sim.getLastError.
sim.intparam_program_version
e.g Version 2.1.4 --> 20104. Can only be read. See also sim_intparam_program_revision.
sim.intparam_program_revision
Can only be read. See also sim_intparam_program_version.
sim_intparam_custom_cmd_start_id
start of custom command IDs. Can only be read
sim.intparam_compilation_version
0=V-REP PRO EDU version, 1=V-REP PRO version, 2=V-REP PLAYER version. Can only be read
sim.intparam_current_page
sim.intparam_flymode_camera_handle
Can only be read
sim.intparam_dynamic_step_divider
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
sim.intparam_dynamic_engine
0=Bullet, 1=ODE, 2=Vortex, 3=Newton.
sim.intparam_server_port_start
together with sim.intparam_server_port_next and sim.intparam_server_port_range, indicates which local ports can be used. Can only be read
sim.intparam_server_port_range
together with sim.intparam_server_port_next and sim.intparam_server_port_start, indicates which local ports can be used. Can only be read
sim.intparam_server_port_next
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
sim.intparam_visible_layers
sim.intparam_infotext_style
allowed values are 0-2
sim.intparam_settings
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
sim.intparam_edit_mode_type
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
sim.intparam_qt_version
The Qt version. Can only be read
sim.intparam_event_flags_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
sim.intparam_event_flags_read_clear
Some event flags. Reads the flags and clears them right after
sim.intparam_platform
0=Windows, 1=Macintosh, 2=Linux. Can only be read
sim.intparam_scene_unique_id
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
sim.intparam_mouse_x
sim.intparam_mouse_y
sim.intparam_mouse_buttons
Bit-coded: bit0 set=left button, bit1 set=middle wheel activity, bit2 set=right button, bit3 set=middle wheel down.
sim.intparam_core_count
The number of cores on this machine. Can only be read.
sim.intparam_idle_fps
sim.intparam_prox_sensor_select_down
Allows to enable message or callback generation when a shape was clicked (down-click) in the scene. The click is a "geometric" click. This value is set to zero at simulation start and simulation stop. Refer also to sim.message_prox_sensor_select_down and sim_message_eventcallback_proxsensorselectdown.
0: disabled
-1: enabled for all visible shapes in the scene. Might trigger some initial calculations.
a detectable value (object special property value): enabled for all visible shapes in the scene with a similar detectable value. Might trigger some initial calculations.
sim.intparam_prox_sensor_select_up
Allows to enable message or callback generation when a shape was clicked (up-click) in the scene. The click is a "geometric" click. This value is set to zero at simulation start and simulation stop. Refer also to sim.message_prox_sensor_select_down and sim_message_eventcallback_proxsensorselectdown.
0: disabled
-1: enabled for all visible shapes in the scene. Might trigger some initial calculations.
a detectable value (object special property value): enabled for all visible shapes in the scene with a similar detectable value. Might trigger some initial calculations.
sim.intparam_stop_request_counter
a counter that is incremented each time a stop simulation request arrives (e.g. via the toolbar button, menu, etc.)
sim.intparam_dynamic_warning_disabled_mask
a bit-coded mask that allows to temporarily disable warning messages from the physics engine:
bit 0 set (1): pure spheroids are not supported
bit 1 set (2): pure cones are not supported
bit 2 set (4): pure hollow shapes are not supported
bit 3 set (8): physics engine is not supported supported
bit 4 set (16): scene contains non-pure, non-convex shapes
bit 5 set (32): scene contains static shapes on dynamic construction
bit 6 set (64): non-default physics engine settings
bit 7 set (128): Vortex plugin is demo version
bit 8 set (256): dynamic non-convex meshes are not supported with the selected engine.
sim.intparam_simulation_warning_disabled_mask
a bit-coded mask that allows to temporarily disable warning messages related to simulation:
bit 0 set (1): non-default parameters used
sim.intparam_scene_index
when written, will be executed in a delayed fashion.
sim.intparam_motionplanning_seed
Specify a value that initializes the random number generator for the motion planning functionality.Can only be written.
sim.intparam_speedmodifier
Can only be read/written when simulation is not stopped.
sim.intparam_dynamic_iteration_count
The number of calculation iterations of the currently selected physics engine. Can only be written when using a customized configuration for the physics engine, and when simulation is stopped.

See also the sim.getInt32Parameter and sim.setInt32Parameter functions.

uint64 parameters

sim_uint64param_simulation_time_step_ns
The simulation time step in nanoseconds.
sim_uint64param_simulation_time_ns
The simulation time in nanoseconds.

See also the simGetUInt64Parameter function.

Floating point parameters

sim.floatparam_rand
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
sim.floatparam_simulation_time_step
The simulation time step (i.e. dt). Can only be written when using a custom dt value (which can be set in the simulation settings dialog), and when simulation is stopped.
sim.floatparam_stereo_distance
The camera intra occular distance when in 3D OpenGl stereo mode.
sim.floatparam_dynamic_step_size
The step size of the currently selected physics engine. Can only be written when using a customized configuration for the physics engine, and when simulation is stopped.

See also the sim.getFloatParameter and sim.setFloatParameter functions.

String parameters

sim.stringparam_application_path
can only be read
sim.stringparam_scene_path_and_name
can only be read
sim.stringparam_scene_path
can only be read
sim.stringparam_scene_name
can only be read
sim.stringparam_video_filename
path + filename without extension
sim.stringparam_scene_unique_id
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
sim.stringparam_app_arg1
the 1st argument specified via command line option -g
sim.stringparam_app_arg2
the 2nd argument specified via command line option -g
sim.stringparam_app_arg3
the 3rd argument specified via command line option -g
sim.stringparam_app_arg4
the 4th argument specified via command line option -g
sim.stringparam_app_arg5
the 5th argument specified via command line option -g
sim.stringparam_app_arg6
the 6th argument specified via command line option -g
sim.stringparam_app_arg7
the 7th argument specified via command line option -g
sim.stringparam_app_arg8
the 8th argument specified via command line option -g
sim.stringparam_app_arg9
the 9th argument specified via command line option -g

See also the sim.getStringParameter function.

Array parameters

sim.arrayparam_gravity
3 floats
sim.arrayparam_fog
3 floats: fog start, fog end, fog density
sim.arrayparam_fog_color
3 floats
sim.arrayparam_background_color1
3 floats
sim.arrayparam_background_color2
3 floats
sim.arrayparam_ambient_light
3 floats
sim.arrayparam_random_euler
3 floats. Can only be read.

See also the sim.getArrayParameter and sim.setArrayParameter functions.

Mouse navigation and selection modes

sim.navigation_passive
sim.navigation_camerashift
sim.navigation_camerarotate
sim.navigation_camerazoom
sim.navigation_cameratilt
sim.navigation_cameraangle
sim.navigation_camerafly
sim.navigation_objectshift
sim.navigation_objectrotate

Bit-combine following values and add them to one of above's values for a valid navigation mode:

sim.navigation_clickselection
sim.navigation_ctrlselection
sim.navigation_shiftselection
sim.navigation_camerazoomwheel
sim.navigation_camerarotatemiddlebutton

See also the sim.getNavigationMode and sim.setNavigationMode functions.

Bit-coded start-up options

sim_gui_menubar (1)
sim_gui_popups (2)
sim_gui_toolbar1 (4)
sim_gui_toolbar2 (8)
sim_gui_hierarchy (16)
sim_gui_infobar (32)
sim_gui_statusbar (64)
sim_gui_scripteditor (128)
sim_gui_scriptsimulationparameters (256)
sim_gui_dialogs (512)
sim_gui_browser (1024)
sim_gui_all (0x0ffff)
sim_gui_headless (will override all other flags) (65536)

See also the simRunSimulator function.

Joint modes

sim.jointmode_passive
sim.jointmode_ik
sim.jointmode_ikdependent
sim.jointmode_dependent
sim.jointmode_force

See also the sim.setJointMode function.

Distance calculation methods

sim.distcalcmethod_dl
distance=sum(dl)
sim.distcalcmethod_dac
distance=sum(da*c)
sim.distcalcmethod_max_dl_dac
distance=sum(max(dl,da*c))
sim.distcalcmethod_dl_and_dac
distance=sum(dl+da*c)
sim.distcalcmethod_sqrt_dl2_and_dac2
distance=sum(sqrt(dl^2+(da*c)^2))
sim.distcalcmethod_dl_if_nonzero
distance=sum(if (dl!=0) then (dl) else (da*c))
sim.distcalcmethod_dac_if_nonzero
distance=sum(if (da*c!=0) then (da*c) else (dl))

where dl is a linear variation, da an angular variation and c the angular to linear conversion coefficient

See also the sim.moveToPosition function.

Reflexxes motion library (RML) constants

select exactly one of following:
sim.rml_phase_sync_if_possible (default for position-based calculations)
sim.rml_only_time_sync
sim.rml_only_phase_sync
sim.rml_no_sync

combine with exactly one of following:
sim.rml_keep_target_vel (default for position-based calculations)
sim.rml_recompute_trajectory

for the position-based function, following flags can also optionally combined:
sim.rml_disable_extremum_motion_states_calc
sim.rml_keep_current_vel_if_fallback_strategy

Default for position-based calculations is: sim.rml_phase_sync_if_possible | sim.rml_keep_target_vel
Default for velocity-based calculations is: sim.rml_no_sync

Pure primitive types

sim.pure_primitive_none
sim.pure_primitive_plane
sim.pure_primitive_disc
sim.pure_primitive_cuboid
sim.pure_primitive_spheroid
sim.pure_primitive_cylinder
sim.pure_primitive_cone
sim.pure_primitive_heightfield

Dummy link types

sim.dummy_linktype_dynamics_loop_closure
sim.dummy_linktype_dynamics_force_constraint
sim.dummy_linktype_gcs_loop_closure
sim.dummy_linktype_gcs_tip
sim.dummy_linktype_gcs_target
sim.dummy_linktype_ik_tip_target

Physics engine types

File dialog types

sim.filedlg_type_load
sim.filedlg_type_load_multiple
sim.filedlg_type_save
sim.filedlg_type_folder

See also the sim.fileDialog function.

Message box types

sim.msgbox_type_info
sim.msgbox_type_question
sim.msgbox_type_warning
sim.msgbox_type_critical

See also the sim.msgBox function.

Message box buttons

sim.msgbox_buttons_ok
sim.msgbox_buttons_yesno
sim.msgbox_buttons_yesnocancel
sim.msgbox_buttons_okcancel

See also the sim.msgBox function.

Message box return values

sim.msgbox_return_cancel
sim.msgbox_return_no
sim.msgbox_return_yes
sim.msgbox_return_ok
sim.msgbox_return_error

See also the sim.msgBox function.

Pure primitive types

sim.pure_primitive_none
sim.pure_primitive_plane
sim.pure_primitive_disc
sim.pure_primitive_cuboid
sim.pure_primitive_spheroid
sim.pure_primitive_cylinder
sim.pure_primitive_cone
sim.pure_primitive_heightfield

See also the sim.getShapeGeomInfo function.

Texture mapping modes

sim.texturemap_plane
sim.texturemap_cylinder
sim.texturemap_sphere
sim.texturemap_cube

See also the sim.setShapeTexture function.

Color components

sim.colorcomponent_ambient_diffuse (only for objects)
sim.colorcomponent_diffuse (only for lights)
sim.colorcomponent_specular
sim.colorcomponent_emission (only for objects)
sim.colorcomponent_transparency (only for objects)
sim.colorcomponent_auxiliary (only for objects)

See also the sim.setShapeColor function.

Volume types (proximity sensor's, or mill's)

sim.volume_pyramid
sim.volume_cylinder
sim.volume_disc
sim.volume_cone
sim.volume_ray
sim.volume_randomizedray

Buffer types with allowed transformations

sim.buffer_uint8
--> 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)
sim.buffer_uint8rgb
--> sim.buffer_uint8bgr,sim.buffer_uint8
sim.buffer_uint8bgr
--> sim.buffer_uint8rgb,sim.buffer_uint8
sim.buffer_uint8rgba
--> sim.buffer_uint8rgb
sim.buffer_uint8argb
--> sim.buffer_uint8rgb
sim.buffer_float
--> 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
sim.buffer_double
--> 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
sim.buffer_base64 (multiplier and offset are ignored)
--> sim.buffer_uint8

See also the sim.transformBuffer function.

Image combination operations

sim.imgcomb_vertical: vertical concatenation
sim.imgcomb_horizontal: horizontal concatenation

See also the sim.combineRgbImages function.

Predefined dynamic material types

sim.dynmat_default
sim.dynmat_highfriction
sim.dynmat_lowfriction
sim.dynmat_nofriction
sim.dynmat_reststackgrasp
sim.dynmat_foot
sim.dynmat_wheel
sim.dynmat_gripper
sim.dynmat_floor

Vision sensor filter components

sim.filtercomponent_originalimage
byte parameters: none
int parameters: none
float parameters: none
sim.filtercomponent_originaldepth
byte parameters: none
int parameters: none
float parameters: none
sim.filtercomponent_uniformimage
byte parameters: none
int parameters: none
float parameters: red, green, blue
sim.filtercomponent_tooutput
byte parameters: none
int parameters: none
float parameters: none
sim.filtercomponent_todepthoutput
byte parameters: none
int parameters: none
float parameters: none
sim.filtercomponent_tobuffer1
byte parameters: none
int parameters: none
float parameters: none
sim.filtercomponent_tobuffer2
byte parameters: none
int parameters: none
float parameters: none
sim.filtercomponent_frombuffer1
byte parameters: none
int parameters: none
float parameters: none
sim.filtercomponent_frombuffer2
byte parameters: none
int parameters: none
float parameters: none
sim.filtercomponent_swapbuffers
byte parameters: none
int parameters: none
float parameters: none
sim.filtercomponent_addbuffer1
byte parameters: none
int parameters: none
float parameters: none
sim.filtercomponent_subtractbuffer1
byte parameters: none
int parameters: none
float parameters: none
sim.filtercomponent_multiplywithbuffer1
byte parameters: none
int parameters: none
float parameters: none
sim.filtercomponent_horizontalflip
byte parameters: none
int parameters: none
float parameters: none
sim.filtercomponent_verticalflip
byte parameters: none
int parameters: none
float parameters: none
sim.filtercomponent_rotate
byte parameters: none
int parameters: none
float parameters: rotation angle
sim.filtercomponent_shift
byte parameters: bit0: no wrapping, otherwise with wrapping
int parameters: none
float parameters: X-shift, Y-shift
sim.filtercomponent_resize
byte parameters: none
int parameters: none
float parameters: X-scale, Y-scale
sim.filtercomponent_3x3filter
byte parameters: none
int parameters: number of passes
float parameters: 9 matrix elements, 1 multiplication factor
sim.filtercomponent_5x5filter
byte parameters: none
int parameters: number of passes
float parameters: 25 matrix elements, 1 multiplication factor
sim.filtercomponent_sharpen
byte parameters: none
int parameters: none
float parameters: none
sim.filtercomponent_edge
byte parameters: none
int parameters: none
float parameters: threshold
sim.filtercomponent_rectangularcut
byte parameters: bit0: cut part is copied to buffer 1
int parameters: none
float parameters: X-size, Y-size
sim.filtercomponent_circularcut
byte parameters: bit0: cut part is copied to buffer 1
int parameters: none
float parameters: circle radius
sim.filtercomponent_normalize
byte parameters: none
int parameters: none
float parameters: none
sim.filtercomponent_intensityscale
byte parameters: none
int parameters: Bit0: intensity scale, otherwise greyscale
float parameters: scale start, scale end
sim.filtercomponent_keeporremovecolors
byte parameters: bit0: keep, otherwise remove, bit1: rgb, otherwise hsl, bit2: copy removed parts to buffer1
int parameters: none
float parameters: r/h value, g/s value, b/l value, r/h tolerance, g/s tolerance, b/l tolerance
sim.filtercomponent_scaleandoffsetcolors
byte parameters: bit0: not used, bit1: rgb, otherwise hsl
int parameters: none
float parameters: r/h off (bef. scal.), g/s off (bef. scal.), b/l off (bef. scal.), r/h scale, g/s scale, b/l scale, r/h off (aft. scal.), g/s off (aft. scal.), b/l off (aft. scal.)
sim.filtercomponent_binary
byte parameters: Bit0-1: not used, bit2: trigger enabled, bit3: overlay display
int parameters: none
float parameters: threshold, reserved, reserved, reserved, '1' prop. for trigger, '1' prop. tolerance for trigger, x center of mass for trigger, x center of mass tolerance for trigger, y center of mass for trigger, y center of mass tolerance for trigger, orientation for trigger, orientation tolerance for trigger, roundness for trigger
sim.filtercomponent_swapwithbuffer1
byte parameters: none
int parameters: none
float parameters: none
sim.filtercomponent_addtobuffer1
byte parameters: none
int parameters: none
float parameters: none
sim.filtercomponent_subtractfrombuffer1
byte parameters: none
int parameters: none
float parameters: none
sim.filtercomponent_correlationwithbuffer1
byte parameters: bit0-bit2: not used, bit3: overlay display, bit4: greyscale calculations
int parameters: none
float parameters: template size X, template size Y, search frame X, search frame Y
sim.filtercomponent_colorsegmentation
byte parameters: none
int parameters: none
float parameters: max color-color distance
sim.filtercomponent_blobextraction
byte parameters: bit0: use different color for each blob
int parameters: none
float parameters: threshold, min. blob size
sim.filtercomponent_imagetocoord
byte parameters: none
int parameters: point count along X, point count along Y
float parameters: none
sim.filtercomponent_pixelchange
byte parameters: none
int parameters: none
float parameters: threshold
sim.filtercomponent_velodyne
byte parameters: none
int parameters: point count along X, point count along Y, reserved, reserved
float parameters: vertical scan angle, reserved, reserved
sim.filtercomponent_customized

See also the sim.getVisionSensorFilter and sim.setVisionSensorFilter functions.

Resources lock types

sim_lock_ui_wants_to_read
when the GUI thread wants to read resources. Lock might fail.
sim_lock_ui_wants_to_write
when the GUI thread wants to write resources. Lock might fail.
sim_lock_nonui_wants_to_write
when the non-GUI thread wants to write resources. Lock never fails.

See also the simLockResources function.

Physics engine properties

sim.bullet_global_stepsize (float parameter)
sim.bullet_global_internalscalingfactor (float parameter)
sim.bullet_global_collisionmarginfactor (float parameter)
sim.bullet_global_constraintsolvingiterations (int parameter)
sim.bullet_global_constraintsolvertype (int parameter)
sim.bullet_global_fullinternalscaling (bool parameter)

sim.bullet_joint_stoperp (float parameter)
sim.bullet_joint_stopcfm (float parameter)
sim.bullet_joint_normalcfm (float parameter)

sim.bullet_body_restitution (float parameter)
sim.bullet_body_oldfriction (float parameter)
sim.bullet_body_friction (float parameter)
sim.bullet_body_lineardamping (float parameter)
sim.bullet_body_angulardamping (float parameter)
sim.bullet_body_nondefaultcollisionmargingfactor (float parameter)
sim.bullet_body_nondefaultcollisionmargingfactorconvex (float parameter)
sim.bullet_body_sticky (bool parameter)
sim.bullet_body_usenondefaultcollisionmargin (bool parameter)
sim.bullet_body_usenondefaultcollisionmarginconvex (bool parameter)
sim.bullet_body_autoshrinkconvex (bool parameter)


sim.ode_global_stepsize (float parameter)
sim.ode_global_internalscalingfactor (float parameter)
sim.ode_global_cfm (float parameter)
sim.ode_global_erp (float parameter)
sim.ode_global_constraintsolvingiterations (int parameter)
sim.ode_global_randomseed (int parameter)
sim.ode_global_fullinternalscaling (bool parameter)
sim.ode_global_quickstep (bool parameter)

sim.ode_joint_stoperp (float parameter)
sim.ode_joint_stopcfm (float parameter)
sim.ode_joint_bounce (float parameter)
sim.ode_joint_fudgefactor (float parameter)
sim.ode_joint_normalcfm (float parameter)

sim.ode_body_friction (float parameter)
sim.ode_body_softerp (float parameter)
sim.ode_body_softcfm (float parameter)
sim.ode_body_lineardamping (float parameter)
sim.ode_body_angulardamping (float parameter)
sim.ode_body_maxcontacts (int parameter)


sim.vortex_global_stepsize (float parameter)
sim.vortex_global_internalscalingfactor (float parameter)
sim.vortex_global_contacttolerance (float parameter)
sim.vortex_global_constraintlinearcompliance (float parameter)
sim.vortex_global_constraintlineardamping (float parameter)
sim.vortex_global_constraintlinearkineticloss (float parameter)
sim.vortex_global_constraintangularcompliance (float parameter)
sim.vortex_global_constraintangulardamping (float parameter)
sim.vortex_global_constraintangularkineticloss (float parameter)
sim.vortex_global_autosleep (bool parameter)
sim.vortex_global_multithreading (bool parameter)

sim.vortex_joint_lowerlimitdamping (float parameter)
sim.vortex_joint_upperlimitdamping (float parameter)
sim.vortex_joint_lowerlimitstiffness (float parameter)
sim.vortex_joint_upperlimitstiffness (float parameter)
sim.vortex_joint_lowerlimitrestitution (float parameter)
sim.vortex_joint_upperlimitrestitution (float parameter)
sim.vortex_joint_lowerlimitmaxforce (float parameter)
sim.vortex_joint_upperlimitmaxforce (float parameter)
sim.vortex_joint_motorconstraintfrictioncoeff (float parameter)
sim.vortex_joint_motorconstraintfrictionmaxforce (float parameter)
sim.vortex_joint_motorconstraintfrictionloss (float parameter)
sim.vortex_joint_p0loss (float parameter)
sim.vortex_joint_p0stiffness (float parameter)
sim.vortex_joint_p0damping (float parameter)
sim.vortex_joint_p0frictioncoeff (float parameter)
sim.vortex_joint_p0frictionmaxforce (float parameter)
sim.vortex_joint_p0frictionloss (float parameter)
sim.vortex_joint_p1loss (float parameter)
sim.vortex_joint_p1stiffness (float parameter)
sim.vortex_joint_p1damping (float parameter)
sim.vortex_joint_p1frictioncoeff (float parameter)
sim.vortex_joint_p1frictionmaxforce (float parameter)
sim.vortex_joint_p1frictionloss (float parameter)
sim.vortex_joint_p2loss (float parameter)
sim.vortex_joint_p2stiffness (float parameter)
sim.vortex_joint_p2damping (float parameter)
sim.vortex_joint_p2frictioncoeff (float parameter)
sim.vortex_joint_p2frictionmaxforce (float parameter)
sim.vortex_joint_p2frictionloss (float parameter)
sim.vortex_joint_a0loss (float parameter)
sim.vortex_joint_a0stiffness (float parameter)
sim.vortex_joint_a0damping (float parameter)
sim.vortex_joint_a0frictioncoeff (float parameter)
sim.vortex_joint_a0frictionmaxforce (float parameter)
sim.vortex_joint_a0frictionloss (float parameter)
sim.vortex_joint_a1loss (float parameter)
sim.vortex_joint_a1stiffness (float parameter)
sim.vortex_joint_a1damping (float parameter)
sim.vortex_joint_a1frictioncoeff (float parameter)
sim.vortex_joint_a1frictionmaxforce (float parameter)
sim.vortex_joint_a1frictionloss (float parameter)
sim.vortex_joint_a2loss (float parameter)
sim.vortex_joint_a2stiffness (float parameter)
sim.vortex_joint_a2damping (float parameter)
sim.vortex_joint_a2frictioncoeff (float parameter)
sim.vortex_joint_a2frictionmaxforce (float parameter)
sim.vortex_joint_a2frictionloss (float parameter)
sim.vortex_joint_dependencyfactor (float parameter)
sim.vortex_joint_dependencyoffset (float parameter)
sim.vortex_joint_relaxationenabledbc (int parameter)
Bit-coded, 3 bits for the linear x/y/z, 3 bits for the angular x/y/z.
sim.vortex_joint_frictionenabledbc (int parameter)
Bit-coded, 3 bits for the linear x/y/z, 3 bits for the angular x/y/z.
sim.vortex_joint_frictionproportionalbc (int parameter)
Bit-coded, 3 bits for the linear x/y/z, 3 bits for the angular x/y/z.
sim.vortex_joint_objectid (int parameter)
sim.vortex_joint_dependentobjectid (int parameter)
sim.vortex_joint_motorfrictionenabled (bool parameter)
sim.vortex_joint_proportionalmotorfriction (bool parameter)

sim.vortex_body_primlinearaxisfriction (float parameter)
sim.vortex_body_seclinearaxisfriction (float parameter)
sim.vortex_body_primangularaxisfriction (float parameter)
sim.vortex_body_secangularaxisfriction (float parameter)
sim.vortex_body_normalangularaxisfriction (float parameter)
sim.vortex_body_primlinearaxisstaticfrictionscale (float parameter)
sim.vortex_body_seclinearaxisstaticfrictionscale (float parameter)
sim.vortex_body_primangularaxisstaticfrictionscale (float parameter)
sim.vortex_body_secangularaxisstaticfrictionscale (float parameter)
sim.vortex_body_normalangularaxisstaticfrictionscale (float parameter)
sim.vortex_body_compliance (float parameter)
sim.vortex_body_damping (float parameter)
sim.vortex_body_restitution (float parameter)
sim.vortex_body_restitutionthreshold (float parameter)
sim.vortex_body_adhesiveforce (float parameter)
sim.vortex_body_linearvelocitydamping (float parameter)
sim.vortex_body_angularvelocitydamping (float parameter)
sim.vortex_body_primlinearaxisslide (float parameter)
sim.vortex_body_seclinearaxisslide (float parameter)
sim.vortex_body_primangularaxisslide (float parameter)
sim.vortex_body_secangularaxisslide (float parameter)
sim.vortex_body_normalangularaxisslide (float parameter)
sim.vortex_body_primlinearaxisslip (float parameter)
sim.vortex_body_seclinearaxisslip (float parameter)
sim.vortex_body_primangularaxisslip (float parameter)
sim.vortex_body_secangularaxisslip (float parameter)
sim.vortex_body_normalangularaxisslip (float parameter)
sim.vortex_body_autosleeplinearspeedthreshold (float parameter)
sim.vortex_body_autosleeplinearaccelthreshold (float parameter)
sim.vortex_body_autosleepangularspeedthreshold (float parameter)
sim.vortex_body_autosleepangularaccelthreshold (float parameter)
sim.vortex_body_skinthickness (float parameter)
sim.vortex_body_autoangulardampingtensionratio (float parameter)
sim.vortex_body_primaxisvectorx (float parameter)
sim.vortex_body_primaxisvectory (float parameter)
sim.vortex_body_primaxisvectorz (float parameter)
sim.vortex_body_primlinearaxisfrictionmodel (int parameter)
sim.vortex_body_seclinearaxisfrictionmodel (int parameter)
sim.vortex_body_primangulararaxisfrictionmodel (int parameter)
sim.vortex_body_secmangulararaxisfrictionmodel (int parameter)
sim.vortex_body_normalmangulararaxisfrictionmodel (int parameter)
sim.vortex_body_autosleepsteplivethreshold (int parameter)
sim.vortex_body_materialuniqueid (int parameter)
sim.vortex_body_pureshapesasconvex (bool parameter)
sim.vortex_body_convexshapesasrandom (bool parameter)
sim.vortex_body_randomshapesasterrain (bool parameter)
sim.vortex_body_fastmoving (bool parameter)
sim.vortex_body_autoslip (bool parameter)
sim.vortex_body_seclinaxissameasprimlinaxis (bool parameter)
sim.vortex_body_secangaxissameasprimangaxis (bool parameter)
sim.vortex_body_normangaxissameasprimangaxis (bool parameter)
sim.vortex_body_autoangulardamping (bool parameter)


sim.newton_global_stepsize (float parameter)
sim.newton_global_contactmergetolerance (float parameter)
sim.newton_global_constraintsolvingiterations (int parameter)
sim.newton_global_multithreading (bool parameter)
sim.newton_global_exactsolver (bool parameter)
sim.newton_global_highjointaccuracy (bool parameter)

sim.newton_joint_dependencyfactor (float parameter)
sim.newton_joint_dependencyoffset (float parameter)
sim.newton_joint_objectid (int parameter)
sim.newton_joint_dependentobjectid (int parameter)

sim.newton_body_staticfriction (float parameter)
sim.newton_body_kineticfriction (float parameter)
sim.newton_body_restitution (float parameter)
sim.newton_body_lineardrag (float parameter)
sim.newton_body_angulardrag (float parameter)
sim.newton_body_fastmoving (bool parameter)


See also the related setter and getter API functions.

Bullet solver types

sim.bullet_constraintsolvertype_sequentialimpulse
sim.bullet_constraintsolvertype_nncg
sim.bullet_constraintsolvertype_dantzig
sim.bullet_constraintsolvertype_projectedgaussseidel

See also the physics engine properties.

Vortex friction models

sim.vortex_bodyfrictionmodel_box
sim.vortex_bodyfrictionmodel_scaledbox
sim.vortex_bodyfrictionmodel_proplow
sim.vortex_bodyfrictionmodel_prophigh
sim.vortex_bodyfrictionmodel_scaledboxfast
sim.vortex_bodyfrictionmodel_neutral
sim.vortex_bodyfrictionmodel_none

See also the physics engine properties.