The main client application

V-REP is a function library: without main client application (or main application, or main loop), V-REP cannot run. The default main client application that comes with the installation package is "vrep.exe" (Windows), or "vrep" (MacOSX and Linux). Beware that under MacOSX, the client application as well as several other items (e.g. libraries) are contained inside of a package or bundle ("vrep.app"): "vrep.app/Contents/MacOS/vrep".

The main client application is a small executable that handles following main tasks:

  • it runs the simulator with simRunSimulator.
  • it loads and unloads plugins with simLoadModule and simUnloadModule
  • it loads a scene or model file that was double-clicked with simLoadScene or simLoadModel
  • it handles running simulations with simHandleMainScript and simAdvanceSimulationByOneStep
  • The V-REP programming folder contains two main application projects: v_repClientApplication (cross-platform Qt project) and windowsOnlyProjects/v_repClientApplication (MSV2005 project). Following are the main files required for compilation and running that applications (the easiest is however to simply copy the newly built main application into V-REP PRO / V-REP PRO EDU / V-REP PLAYER installation folder):

  • "v_repLib.h", "v_repLib.cpp" and "v_repConst.h": files required to dynamically load and bind to V-REP
  • "v_rep.dll" / "libv_rep.dylib" / "libv_rep.so": the V-REP library
  • "lua5.1.dll" (or similar): library required for the Lua functionality
  • "qscintilla2.dll" (or similar): library required for the scintilla editor
  • "QtCore4.dll", "QtGui4.dll", etc. (or similar): libraries of the Qt framework
  • V-REP's "system" folder and all its content (required for proper initialization, etc.)
  • "v_repWin.dll" (Windows only): auxiliary library required by the Windows version of V-REP
  • The main client application can be customized. This is however not recommended and should only be used when writing scripts and/or plugins won't work for your purpose, since the risk of losing compatibility with the default V-REP behavior is high if not properly implemented.

    Recommended topics

  • Plugins