General callback script
The general callback script, disabled by default, can be enabled via the environment dialog. When enabled, then specific callback calls, that originate from a plugin for instance, can be intercepted: a function call to simHandleGeneralCallbackScript will end-up in the general callback script, where appropriate measures can be taken depending on the sim_callback_id value. The general callback script can also contain functions that can be accessed via simCallScriptFunctionEx, simxCallScriptFunction or simRosCallScriptFunction.
Following represents a typical general callback script (variables sim_callback_id and sim_callback_tag are handed over by the system):
if sim_callback_id==sim_callbackid_dynstep then -- This is called at the beginning or end of -- an individual dynamics simulation step (by -- default, there are 10 times more dynamics -- simulation steps as simulation steps) if sim_callback_tag==0 then -- at the beginning of a dynamics step end if sim_callback_tag==1 then -- at the end of a dynamics step end return 0 end if sim_callback_id==sim_callbackid_userdefined+42 then -- This is a user defined callback. User defined -- callbacks start at ID sim_callbackid_userdefined upwards. return 1 end