Regular API function list (by category)

The list of API functions below allows you to access many V-REP parameters. There are however too many parameters in V-REP to have a specific API function for each one of them. Auxiliary parameters can be accessed via a set of given functions that use object parameter IDs. Refer also to the global parameter IDs.

File operations

simCloseScene
simSaveScene
simLoadScene
simSaveModel
simLoadModel
simSaveUI
simLoadUI
simDoesFileExist
simImportShape
simImportMesh
simExportMesh
simExportIk
simLaunchExecutable
simFileDialog
simCreateTexture

General object handle retrieval

simGetObjectHandle
simGetUIHandle
simGetCollectionHandle
simGetCollisionHandle
simGetDistanceHandle
simGetMechanismHandle
simGetIkGroupHandle
simGetScriptHandle
simIsHandleValid
simGetObjectAssociatedWithScript
simGetObjects
simGetObjectsInTree
simGetCollectionObjects
simGetNameSuffix
simSetNameSuffix

General functionality handling

simHandleMainScript
simHandleChildScripts
simHandleGeneralCallbackScript
simLaunchThreadedChildScripts
simResetScript
simHandleCollision
simResetCollision
simHandleDistance
simResetDistance
simHandleMechanism
simHandleGraph
simResetGraph
simHandleIkGroup
simHandleModule
simHandleProximitySensor
simResetProximitySensor
simHandleVisionSensor
simResetVisionSensor
simHandleMill
simResetMill
simApplyMilling
simResetMilling
simHandleVarious
simGetExplicitHandling
simSetExplicitHandling

Collision detection functionality

simGetCollisionHandle
simIsHandleValid
simHandleCollision
simReadCollision
simResetCollision
simCheckCollision
simCheckCollisionEx

See also the simSetObjectXXXParameter and simGetObjectXXXParameter functions
and their collision object related parameters.

Minimum distance calculation functionality

simGetDistanceHandle
simIsHandleValid
simHandleDistance
simReadDistance
simResetDistance
simCheckDistance

See also the simSetObjectXXXParameter and simGetObjectXXXParameter functions
and their distance object related parameters.

IK and geometric constraint solver functionalities

simGetIkGroupHandle
simIsHandleValid
simHandleIkGroup
simCheckIkGroup
simComputeJacobian
simSetIkElementProperties
simSetIkGroupProperties
simGetIkGroupMatrix
simGetMechanismHandle
simHandleMechanism
simGetLinkDummy
simSetLinkDummy
simGenerateIkPath
simCreateIkGroup
simRemoveIkGroup
simCreateIkElement
simExportIk

See also the simSetObjectXXXParameter and simGetObjectXXXParameter functions
and their IK group and geometric constraint solver object related parameters.

Path/Motion planning functionality

OMPL plugin API functions with some explanation here
simGetConfigForTipPose
simGenerateIkPath

Dynamics functionality

simHandleDynamics
simSetJointTargetPosition
simSetJointTargetVelocity
simSetJointForce
simReadForceSensor
simBreakForceSensor
simGetJointForce
simAddForce
simAddForceAndTorque
simGetVelocity
simGetLinkDummy
simSetLinkDummy
simResetDynamicObject
simAddParticleObject
simAddParticleObjectItem
simRemoveParticleObject
simGetContactInfo
simRegisterContactCallback
simGetShapeMassAndInertia
simSetShapeMassAndInertia
simComputeMassAndInertia
simCreateForceSensor
simConvexDecompose
simGetQHull
simGetDecimatedMesh
simRegisterJointCtrlCallback
simGetMaterialId
simGetShapeMaterial
simSetShapeMaterial
simGetEngineFloatParameter
simGetEngineInt32Parameter
simGetEngineBoolParameter
simSetEngineFloatParameter
simSetEngineInt32Parameter
simSetEngineBoolParameter

Proximity sensor functionality

simGetObjectHandle
simIsHandleValid
simHandleProximitySensor
simReadProximitySensor
simResetProximitySensor
simCheckProximitySensor
simCheckProximitySensorEx
simCheckProximitySensorEx2
simCreateProximitySensor
simGetObjectInt32Parameter
simSetObjectInt32Parameter
simGetObjectFloatParameter
simSetObjectFloatParameter
simGetObjectStringParameter
simSetObjectStringParameter

See also the simSetObjectXXXParameter and simGetObjectXXXParameter functions
and their proximity sensor related parameters.

Vision sensor functionality

simGetObjectHandle
simIsHandleValid
simHandleVisionSensor
simReadVisionSensor
simResetVisionSensor
simCheckVisionSensor
simCheckVisionSensorEx
simGetVisionSensorDepthBuffer
simGetVisionSensorCharImage
simSetVisionSensorCharImage
simGetVisionSensorImage
simSetVisionSensorImage
simGetVisionSensorResolution
simAdjustView
simCreateVisionSensor
simGetExtensionString
simGetObjectInt32Parameter
simSetObjectInt32Parameter
simGetObjectFloatParameter
simSetObjectFloatParameter
simGetObjectStringParameter
simSetObjectStringParameter

See also the simSetObjectXXXParameter and simGetObjectXXXParameter functions
and their vision sensor related parameters.

Force sensor functionality

simGetObjectHandle
simIsHandleValid
simReadForceSensor
simBreakForceSensor
simCreateForceSensor
simGetObjectInt32Parameter
simSetObjectInt32Parameter
simGetObjectFloatParameter
simSetObjectFloatParameter
simGetObjectStringParameter
simSetObjectStringParameter

See also the simSetObjectXXXParameter and simGetObjectXXXParameter functions
and their force sensor related parameters.

Milling functionality

simGetObjectHandle
simIsHandleValid
simHandleMill
simResetMill
simApplyMilling
simResetMilling
simGetObjectInt32Parameter
simSetObjectInt32Parameter
simGetObjectFloatParameter
simSetObjectFloatParameter
simGetObjectStringParameter
simSetObjectStringParameter

See also the simSetObjectXXXParameter and simGetObjectXXXParameter functions
and their mill related parameters.

Joint object functionality

simGetObjectHandle
simIsHandleValid
simSetJointPosition
simGetJointPosition
simSetJointTargetPosition
simGetJointTargetPosition
simSetJointTargetVelocity
simGetJointTargetVelocity
simSetJointForce
simSetSphericalJointMatrix
simGetJointMatrix
simSetJointInterval
simGetJointInterval
simGetJointType
simCreateJoint
simSetJointMode
simGetJointMode
simGetJointForce
simRegisterJointCtrlCallback
simRMLPos
simRMLVel
simRMLMoveToJointPositions
simGetObjectInt32Parameter
simSetObjectInt32Parameter
simGetObjectFloatParameter
simSetObjectFloatParameter
simGetObjectStringParameter
simSetObjectStringParameter
simGetEngineFloatParameter
simGetEngineInt32Parameter
simGetEngineBoolParameter
simSetEngineFloatParameter
simSetEngineInt32Parameter
simSetEngineBoolParameter


See also the simSetObjectXXXParameter and simGetObjectXXXParameter functions
and their joint related parameters.

Path object functionality

simGetObjectHandle
simIsHandleValid
simSetPathPosition
simGetPathPosition
simGetPathLength
simGetOrientationOnPath
simGetPositionOnPath
simGetDataOnPath
simGetClosestPositionOnPath
simFollowPath
simMoveToObject
simCreatePath
simInsertPathCtrlPoints
simCutPathCtrlPoints
simGetObjectInt32Parameter
simSetObjectInt32Parameter
simGetObjectFloatParameter
simSetObjectFloatParameter
simGetObjectStringParameter
simSetObjectStringParameter

See also the simSetObjectXXXParameter and simGetObjectXXXParameter functions
and their path related parameters.

Shape object functionality

simGetObjectHandle
simIsHandleValid
simAddForce
simAddForceAndTorque
simGetVelocity
simGetShapeColor
simSetShapeColor
simGetShapeTextureId
simSetShapeTexture
simCreateMeshShape
simCreatePureShape
simCreateHeightfieldShape
simGetShapeMesh
simGetShapeGeomInfo
simGetShapeMassAndInertia
simSetShapeMassAndInertia
simComputeMassAndInertia
simGroupShapes
simUngroupShape
simImportShape
simConvexDecompose
simGetQHull
simGetDecimatedMesh
simReorientShapeBoundingBox
simGetShapeMaterial
simSetShapeMaterial
simGetExtensionString
simGetObjectInt32Parameter
simSetObjectInt32Parameter
simGetObjectFloatParameter
simSetObjectFloatParameter
simGetObjectStringParameter
simSetObjectStringParameter
simGetEngineFloatParameter
simGetEngineInt32Parameter
simGetEngineBoolParameter
simSetEngineFloatParameter
simSetEngineInt32Parameter
simSetEngineBoolParameter

See also the simSetObjectXXXParameter and simGetObjectXXXParameter functions
and their shape related parameters.

Graph object functionality

simGetObjectHandle
simIsHandleValid
simHandleGraph
simResetGraph
simSetGraphUserData
simAdjustView
simGetObjectInt32Parameter
simSetObjectInt32Parameter
simGetObjectFloatParameter
simSetObjectFloatParameter
simGetObjectStringParameter
simSetObjectStringParameter

See also the simSetObjectXXXParameter and simGetObjectXXXParameter functions
and their graph related parameters.

Light object functionality

simGetObjectHandle
simIsHandleValid
simGetLightParameters
simSetLightParameters
simGetExtensionString
simGetObjectInt32Parameter
simSetObjectInt32Parameter
simGetObjectFloatParameter
simSetObjectFloatParameter
simGetObjectStringParameter
simSetObjectStringParameter

See also the simSetObjectXXXParameter and simGetObjectXXXParameter functions
and their light related parameters.

Camera object functionality

simGetObjectHandle
simIsHandleValid
simCameraFitToView
simAdjustView
simGetExtensionString
simGetObjectInt32Parameter
simSetObjectInt32Parameter
simGetObjectFloatParameter
simSetObjectFloatParameter
simGetObjectStringParameter
simSetObjectStringParameter

See also the simSetObjectXXXParameter and simGetObjectXXXParameter functions
and their camera related parameters.

Dummy object functionality

simCreateDummy
simGetObjectHandle
simIsHandleValid
simGetLinkDummy
simSetLinkDummy
simGetObjectInt32Parameter
simSetObjectInt32Parameter
simGetObjectFloatParameter
simSetObjectFloatParameter
simGetObjectStringParameter
simSetObjectStringParameter

See also the simSetObjectXXXParameter and simGetObjectXXXParameter functions
and their dummy related parameters.

Mirror object functionality

simGetObjectHandle
simIsHandleValid
simGetObjectInt32Parameter
simSetObjectInt32Parameter
simGetObjectFloatParameter
simSetObjectFloatParameter
simGetObjectStringParameter
simSetObjectStringParameter

See also the simSetObjectXXXParameter and simGetObjectXXXParameter functions
and their mirror related parameters.

Octree functionality

simGetObjectHandle
simIsHandleValid
simCreateOctree
simInsertVoxelsIntoOctree
simRemoveVoxelsFromOctree
simInsertObjectIntoOctree
simSubtractObjectFromOctree
simGetOctreeVoxels
simCheckOctreePointOccupancy
simGetObjectInt32Parameter
simSetObjectInt32Parameter
simGetObjectFloatParameter
simSetObjectFloatParameter
simGetObjectStringParameter
simSetObjectStringParameter

See also the simSetObjectXXXParameter and simGetObjectXXXParameter functions
and their octree related parameters.

Point cloud functionality

simGetObjectHandle
simIsHandleValid
simCreatePointCloud
simGetPointCloudOptions
simSetPointCloudOptions
simInsertPointsIntoPointCloud
simRemovePointsFromPointCloud
simSubtractObjectFromPointCloud
simIntersectPointsWithPointCloud
simInsertObjectIntoPointCloud
simGetPointCloudPoints
simGetObjectInt32Parameter
simSetObjectInt32Parameter
simGetObjectFloatParameter
simSetObjectFloatParameter
simGetObjectStringParameter
simSetObjectStringParameter

See also the simSetObjectXXXParameter and simGetObjectXXXParameter functions
and their point cloud related parameters.

Scene object functionality

simGetObjectHandle
simIsHandleValid
simRemoveObject
simRemoveModel
simGetObjectName
simSetObjectName
simGetObjects
simGetObjectsInTree
simGetObjectParent
simSetObjectParent
simGetObjectChild
simGetObjectMatrix
simSetObjectMatrix
simGetObjectPosition
simSetObjectPosition
simGetObjectOrientation
simSetObjectOrientation
simGetObjectQuaternion
simSetObjectQuaternion
simGetObjectType
simGetObjectUniqueIdentifier
simGetObjectConfiguration
simSetObjectConfiguration
simGetObjectSelection
simGetObjectSelectionSize
simGetObjectSizeFactor
simGetObjectSizeValues
simSetObjectSizeValues
simGetObjectLastSelection
simIsObjectInSelection
simAddObjectToSelection
simCopyPasteObjects
simScaleObject
simScaleObjects
simAddObjectCustomData
simGetObjectCustomData
simGetObjectCustomDataLength
simGetConfigurationTree
simSetConfigurationTree
simGetObjectProperty
simSetObjectProperty
simGetObjectSpecialProperty
simSetObjectSpecialProperty
simMoveToObject
simRMLMoveToPosition
simFollowPath
simRMLPos
simRMLVel
simGetObjectVelocity
simReadCustomDataBlock
simWriteCustomDataBlock
simGetObjectInt32Parameter
simSetObjectInt32Parameter
simGetObjectFloatParameter
simSetObjectFloatParameter
simGetObjectStringParameter
simSetObjectStringParameter

See also the simSetObjectXXXParameter and simGetObjectXXXParameter functions
and their scene object related parameters.

Collections

simGetCollectionHandle
simGetCollectionName
simSetCollectionName
simGetCollectionObjects
simCreateCollection
simAddObjectToCollection
simEmptyCollection
simRemoveCollection

Wireless communication functionality

simSendData
simReceiveData
simPackBytes
simPackDoubles
simPackFloats
simPackInts
simPackUInts
simPackWords
simPackTable
simUnpackBytes
simUnpackDoubles
simUnpackFloats
simUnpackInts
simUnpackUInts
simUnpackWords
simUnpackTable

Serial communication functionality

simSerialCheck
simSerialClose
simSerialOpen
simSerialRead
simSerialSend

Tube communication functionality

simTubeClose
simTubeOpen
simTubeRead
simTubeStatus
simTubeWrite
simPackBytes
simPackDoubles
simPackFloats
simPackInts
simPackUInts
simPackWords
simPackTable
simUnpackBytes
simUnpackDoubles
simUnpackFloats
simUnpackInts
simUnpackUInts
simUnpackWords
simUnpackTable

Drawing object functionality

simAddDrawingObject
simAddDrawingObjectItem
simRemoveDrawingObject

Banner functionality

simAddBanner
simRemoveBanner

Particle object functionality

simAddParticleObject
simAddParticleObjectItem
simRemoveParticleObject

OpenGl-based custom UI functionality

simGetUIHandle
simIsHandleValid
simCreateUI
simRemoveUI
simSetUIProperty
simGetUIProperty
simSetUIPosition
simGetUIPosition
simCreateUIButton
simSetUIButtonProperty
simGetUIButtonProperty
simSetUIButtonLabel
simGetUIButtonLabel
simSetUISlider
simGetUISlider
simSetUIButtonColor
simGetUIButtonSize
simCreateUIButtonArray
simSetUIButtonArrayColor
simDeleteUIButtonArray
simSetUIButtonTexture
simGetUIEventButton
simSaveUI
simLoadUI

Generic dialog functionality

simDisplayDialog
simGetDialogInput
simGetDialogResult
simEndDialog

Model functionality

simGetModelProperty
simSetModelProperty
simSaveModel
simLoadModel

Object selection functionality

simGetObjectSelection
simGetObjectSelectionSize
simGetObjectLastSelection
simIsObjectInSelection
simRemoveObjectFromSelection
simAddObjectToSelection

Object creation functionality

simCreateDummy
simCreateForceSensor
simCreateHeightfieldShape
simCreateJoint
simCreateMeshShape
simCreateProximitySensor
simCreatePureShape
simCreateVisionSensor
simCreatePath
simCreateOctree
simCreatePointCloud
simCreateTexture
simCreateIkGroup
simCreateIkElement

Script object functionality

simGetScriptHandle
simIsHandleValid
simAddScript
simRemoveScript
simGetScript
simGetScriptAssociatedWithObject
simGetCustomizationScriptAssociatedWithObject
simGetObjectAssociatedWithScript
simGetScriptAttribute
simSetScriptAttribute
simCallScriptFunction
simCallScriptFunctionEx
simHandleMainScript
simHandleChildScripts
simHandleGeneralCallbackScript
simLaunchThreadedChildScripts
simResetScript
simGetScriptName
simGetScriptProperty
simGetScriptText
simSetScriptText
simGetScriptExecutionCount
simIsScriptExecutionThreaded
simSetScriptRawBuffer
simGetScriptRawBuffer
simReleaseScriptRawBuffer
simSetScriptSimulationParameter
simGetScriptSimulationParameter
simReadCustomDataBlock
simWriteCustomDataBlock
simRegisterScriptCallbackFunction
simRegisterScriptVariable
simSetScriptVariable

Simulation functionality

simStartSimulation
simPauseSimulation
simStopSimulation
simAdvanceSimulationByOneStep
simGetSimulationState
simGetSimulationTime
simGetSimulationTimeStep
simGetSimulationPassesPerRenderingPass
simSetSimulationPassesPerRenderingPass
simGetRealTimeSimulation
simAdjustRealTimeTimer
simIsRealTimeSimulationStepNeeded

Thread related functionality

simSetThreadSwitchTiming
simSetThreadAutomaticSwitch
simSwitchThread
simSetThreadResumeLocation
simResumeThreads
simIsScriptExecutionThreaded
simSetThreadIsFree
simLaunchExecutable
simGetThreadId

Customization functionality

simAddSceneCustomData
simGetSceneCustomData
simGetSceneCustomDataLength
simAddObjectCustomData
simGetObjectCustomData
simGetObjectCustomDataLength
simLoadModule
simSendModuleMessage
simUnloadModule
simBroadcastMessage
simAddModuleMenuEntry
simSetModuleMenuItemState
simGetSimulatorMessage
simRegisterContactCallback
simRegisterJointCtrlCallback
simFileDialog
simMsgBox
simQuitSimulator
simGetThreadId
simEnableEventCallback
simReadCustomDataBlock
simWriteCustomDataBlock
simHandleGeneralCallbackScript
simSetScriptVariable
simGetExtensionString
simOpenTextEditor

Customizing Lua function

simRegisterScriptCallbackFunction
simRegisterScriptVariable

Lua boolean functions

simBoolAnd32
simBoolOr32
simBoolXor32

C-API only functions (not available in Lua)

simGetSceneCustomDataLength
simGetObjectCustomDataLength
simSendModuleMessage
simBroadcastMessage
simAddModuleMenuEntry
simSetModuleMenuItemState
simGetMainWindow
simRunSimulator
simCreateBuffer
simReleaseBuffer
simAddScript
simGetScript
simHandleMainScript
simHandleGeneralCallbackScript
simResetScript
simGetScriptProperty
simAssociateScriptWithObject
simSetScriptText
simSetScriptRawBuffer
simGetScriptRawBuffer
simRegisterScriptCallbackFunction
simRegisterScriptVariable
simCloseScene
simDoesFileExist
simSetUIButtonTexture
simAdvanceSimulationByOneStep
simGetSimulationPassesPerRenderingPass
simAdjustRealTimeTimer
simIsRealTimeSimulationStepNeeded
simTransformVector
simRegisterContactCallback
simRegisterJointCtrlCallback
simEnableEventCallback
simLockResources
simUnlockResources
simSetScriptVariable

Lua-API only functions (not available in C/C++)

simOpenModule
simHandleModule
simCloseModule
simBoolAnd32
simBoolOr32
simBoolXor32
simGetScriptExecutionCount
simIsScriptExecutionThreaded
simHandleChildScripts
simLaunchThreadedChildScripts
simMultiplyVector
simSetThreadSwitchTiming
simWaitForSignal
simMoveToObject
simFollowPath
simPackBytes
simPackDoubles
simPackFloats
simPackInts
simPackUInts
simPackWords
simUnpackBytes
simUnpackDoubles
simUnpackFloats
simUnpackInts
simUnpackUInts
simUnpackWords
simWait
simLaunchExecutable

Matrix operations & transformations

simBuildIdentityMatrix
simBuildMatrix
simBuildMatrixQ
simCopyMatrix
simGetEulerAnglesFromMatrix
simGetQuaternionFromMatrix
simMultiplyMatrices
simInterpolateMatrices
simInvertMatrix
simGetObjectMatrix
simSetObjectMatrix
simGetObjectPosition
simSetObjectPosition
simGetObjectOrientation
simSetObjectOrientation
simGetObjectQuaternion
simSetObjectQuaternion
simSetSphericalJointMatrix
simGetJointMatrix
simMultiplyVector
simTransformVector
simGetRotationAxis
simRotateAroundAxis
simGetObjectVelocity
simReorientShapeBoundingBox

Messaging commands

simDisplayDialog
simGetDialogInput
simGetDialogResult
simEndDialog
simSetLastError
simAddStatusbarMessage
simLoadModule
simSendModuleMessage
simUnloadModule
simBroadcastMessage
simGetSimulatorMessage
simSetScriptRawBuffer
simGetScriptRawBuffer
simReleaseScriptRawBuffer
simSetScriptSimulationParameter
simGetScriptSimulationParameter
simRegisterScriptCallbackFunction
simRegisterScriptVariable
simRegisterJointCtrlCallback
simSendData
simReceiveData
simSerialCheck
simSerialClose
simSerialOpen
simSerialRead
simSerialSend
simTubeClose
simTubeOpen
simTubeRead
simTubeStatus
simTubeWrite
simPackBytes
simPackDoubles
simPackFloats
simPackInts
simPackUInts
simPackWords
simPackTable
simUnpackBytes
simUnpackDoubles
simUnpackFloats
simUnpackInts
simUnpackUInts
simUnpackWords
simUnpackTable
simSetIntegerSignal
simGetIntegerSignal
simClearIntegerSignal
simSetFloatSignal
simGetFloatSignal
simClearFloatSignal
simSetStringSignal
simGetStringSignal
simClearStringSignal
simGetSignalName
simWaitForSignal
simAuxiliaryConsoleClose
simAuxiliaryConsoleOpen
simAuxiliaryConsolePrint
simRegisterContactCallback
simPersistentDataRead
simPersistentDataWrite
simEnableEventCallback
simHandleGeneralCallbackScript
simCallScriptFunction
simCallScriptFunctionEx
simSetScriptVariable

Script simulation parameter commands

simSetScriptSimulationParameter
simGetScriptSimulationParameter

Signals

simSetIntegerSignal
simGetIntegerSignal
simClearIntegerSignal
simSetFloatSignal
simGetFloatSignal
simClearFloatSignal
simSetStringSignal
simGetStringSignal
simClearStringSignal
simGetSignalName
simWaitForSignal

Persistent Data

simPersistentDataRead
simPersistentDataWrite

Custom data blocks

simReadCustomDataBlock
simWriteCustomDataBlock
simPackBytes
simPackDoubles
simPackFloats
simPackInts
simPackUInts
simPackWords
simPackTable
simUnpackBytes
simUnpackDoubles
simUnpackFloats
simUnpackInts
simUnpackUInts
simUnpackWords
simUnpackTable

Textures

simGetTextureId
simGetShapeTextureId
simReadTexture
simSaveImage
simLoadImage
simGetScaledImage
simTransformImage
simWriteTexture
simCreateTexture
simSetShapeTexture
simSetUIButtonTexture

Blocking functions (only available from threaded child scripts)

simWait
simWaitForSignal
simRMLMoveToJointPositions
simRMLMoveToPosition
simMoveToObject
simFollowPath
simDisplayDialog (when used in modal mode)
simSerialRead (when used in blocking operation)
simTubeRead (when used in blocking operation)

Auxiliary console functions

simAuxiliaryConsoleClose
simAuxiliaryConsoleOpen
simAuxiliaryConsolePrint
simAuxiliaryConsoleShow

Import / Export functions

simImportShape
simImportMesh
simExportMesh
simExportIk
simCreateTexture
simSaveImage

Pages and views

simFloatingViewAdd
simFloatingViewRemove
simAdjustView
simCameraFitToView

Simulator parameter retrieval

simGetArrayParameter
simSetArrayParameter
simGetBoolParameter
simSetBoolParameter
simGetInt32Parameter
simSetInt32Parameter
simGetFloatParameter
simSetFloatParameter
simGetStringParameter
simSetStringParameter
simGetUInt64Parameter

Reflexxes Motion Library type IV

simRMLMoveToJointPositions
simRMLMoveToPosition
simRMLPos
simRMLVel
simRMLStep
simRMLRemove

Ghost objects

simAddGhost
simModifyGhost

Packing / unpacking

simPackBytes
simPackDoubles
simPackFloats
simPackInts
simPackUInts
simPackWords
simPackTable
simUnpackBytes
simUnpackDoubles
simUnpackFloats
simUnpackInts
simUnpackUInts
simUnpackWords
simUnpackTable

Stack functionality

simCreateStack
simReleaseStack
simCopyStack
simPushNullOntoStack
simPushBoolOntoStack
simPushInt32OntoStack
simPushFloatOntoStack
simPushDoubleOntoStack
simPushStringOntoStack
simPushUInt8TableOntoStack
simPushInt32TableOntoStack
simPushFloatTableOntoStack
simPushDoubleTableOntoStack
simPushTableOntoStack
simInsertDataIntoStackTable
simGetStackSize
simPopStackItem
simMoveStackItemToTop
simIsStackValueNull
simGetStackBoolValue
simGetStackInt32Value
simGetStackFloatValue
simGetStackDoubleValue
simGetStackStringValue
simGetStackTableInfo
simGetStackUInt8Table
simGetStackInt32Table
simGetStackFloatTable
simGetStackDoubleTable
simUnfoldStackTable
simDebugStack
simPackTable
simUnpackTable

Physics engine properties

simGetEngineFloatParameter
simGetEngineInt32Parameter
simGetEngineBoolParameter
simSetEngineFloatParameter
simSetEngineInt32Parameter
simSetEngineBoolParameter

Other commands

simAnnounceSceneContentChange
simGetNavigationMode
simSetNavigationMode
simGetPage
simSetPage
simDisplayDialog
simGetDialogInput
simGetDialogResult
simEndDialog
simGetArrayParameter
simSetArrayParameter
simGetBoolParameter
simSetBoolParameter
simGetInt32Parameter
simSetInt32Parameter
simGetUInt64Parameter
simGetFloatParameter
simSetFloatParameter
simGetStringParameter
simSetStringParameter
simGetLastError
simSetLastError
simGetCollectionName
simSetCollectionName
simRemoveCollection
simGetModuleName
simGetNameSuffix
simSetNameSuffix
simGetNavigationMode
simGetSystemTime
simGetSystemTimeInMs
simAddStatusbarMessage
simRefreshDialogs
simSetThreadSwitchTiming
simSwitchThread
simSetThreadIsFree
simSetThreadResumeLocation
simGetExplicitHandling
simSetExplicitHandling
simLaunchExecutable
simFileDialog
simMsgBox
simQuitSimulator
simGetThreadId
simEnableEventCallback
simLockResources
simUnlockResources
simGetExtensionString
simOpenTextEditor


Following are additional API functions, only available from the C/C++ interface, that extend functionality and allow faster data access. They however do not perform input data checking, so use them wisely. Refer to the source code for details.

_simAddForceSensorCumulativeForcesAndTorques
_simAddJointCumulativeForcesOrTorques
_simClearAdditionalForceAndTorque
_simDisableDynamicTreeForManipulation
_simDoEntitiesCollide
_simGetAdditionalForceAndTorque
_simGetAllGeometrics
_simGetBulletCollisionMargin
_simGetBulletRestitution
_simGetBulletStickyContact
_simGetContactCallback
_simGetContactCallbackCount
_simGetCumulativeMeshes
_simGetDamping
_simGetDistanceBetweenEntitiesIfSmaller
_simGetDummyLinkType
_simGetDynamicCollisionMask
_simGetDynamicForceSensorLocalTransformationPart2
_simGetDynamicMotorMaxForce
_simGetDynamicMotorTargetPosition
_simGetDynamicMotorTargetVelocity
_simGetDynamicMotorUpperLimitVelocity
_simGetDynamicsFullRefreshFlag
_simGetFriction
_simGetGeometricCount
_simGetGeomProxyDynamicsFullRefreshFlag
_simGetGeomProxyFromShape
_simGetGeomWrapFromGeomProxy
_simGetGravity
_simGetHeightfieldData
_simGetInitialDynamicAngVelocity
_simGetInitialDynamicVelocity
_simGetJointBulletParameters
_simGetJointMode
_simGetJointOdeParameters
_simGetJointPosition
_simGetJointPositionInterval
_simGetJointType
_simGetLastParentForLocalGlobalCollidable
_simGetLocalInertiaFrame
_simGetMass
_simGetMotorPid
_simGetObject
_simGetObjectChildren
_simGetObjectCumulativeTransformation
_simGetObjectFromIndex
_simGetObjectID
_simGetObjectListSize
_simGetObjectLocalTransformation
_simGetObjectType
_simGetOdeHeightfieldHeight
_simGetOdeMaxContactFrictionCFMandERP
_simGetParentFollowsDynamic
_simGetParentObject
_simGetPrincipalMomentOfInertia
_simGetPurePrimitiveSizes
_simGetPurePrimitiveType
_simGetShapeIsStaticAndNotRespondableButDynamicTag
_simGetStartSleeping
_simGetTimeDiffInMs
_simGetTreeDynamicProperty
_simGetVerticesLocalFrame
_simGetWasPutToSleepOnce
_simIsDynamicMotorEnabled
_simIsDynamicMotorPositionCtrlEnabled
_simIsDynamicMotorTorqueModulationEnabled
_simIsForceSensorBroken
_simIsGeomWrapGeometric
_simIsJointInHybridOperation
_simIsShapeDynamicallyRespondable
_simIsShapeDynamicallyStatic
_simMakeDynamicAnnouncement
_simSetDynamicForceSensorLocalTransformationPart2
_simSetDynamicForceSensorLocalTransformationPart2IsValid
_simSetDynamicJointLocalTransformationPart2
_simSetDynamicJointLocalTransformationPart2IsValid
_simSetDynamicMotorPositionControlTargetPosition
_simSetDynamicMotorReflectedPositionFromDynamicEngine
_simSetDynamicObjectFlagForVisualization
_simSetDynamicsFullRefreshFlag
_simSetDynamicSimulationIconCode
_simSetGeomProxyDynamicsFullRefreshFlag
_simSetInitialDynamicAngVelocity
_simSetInitialDynamicVelocity
_simSetJointPosition
_simSetJointSphericalTransformation
_simSetObjectCumulativeTransformation
_simSetObjectLocalTransformation
_simSetOdeHeightfieldAuxData
_simSetShapeDynamicVelocity
_simSetShapeIsStaticAndNotRespondableButDynamicTag
_simGetIkGroupObject
_simMpHandleIkGroupObject
_simGetPureHollowScaling
_simGetVortexParameters
_simGetJointCallbackCallOrder
_simGetNewtonParameters

Recommended topics

  • Regular API function list (alphabetical order)
  • API constants
  • Object parameter IDs