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simCheckProximitySensorEx
Checks whether the proximity sensor detects the indicated entity. Detection is silent (no visual feedback)
compared to sim.handleProximitySensor. Also, the detectable flags
of the entity are overridden if the entity is an object
C++ synopsis
int simCheckProximitySensorEx(int sensorHandle, int entityHandle, int detectionMode,
double detectionThreshold, double maxAngle, double* detectedPoint,
int* detectedObjectHandle, double* surfaceNormalVector)
Arguments
- sensorHandle: handle of the proximity sensor object
- entityHandle: handle of entity to detect (object or collection), or sim.handle_all to detect all detectable objects
- detectionMode: bit coded: bit0 (1) for front face detection, bit1 (2) for back face detection (bit0|bit1 needs to be true), bit2 (4) for fast detection (doesn't search for the closest point, just any point in the detection volume), bit3 (8) for limited angle detection (if set, maxAngle is taken into account).
- detectionThreshold: doesn't detect objects farther than detectionThreshold distance from sensor origin
- maxAngle: maximum detection angle (angle between detection ray and normal vector of the surface). Can be (0;pi/2). Only if bit3 of detectionMode is set will this parameter have an effect. Use this to realistically simulate ultrasonic sensors.
- detectedPoint: coordinates of detected point relative to the sensor origin (detectedPoint[0]-detectedPoint[2]), and distance of detected point to the sensor origin (detectedPoint[3]). Can be nullptr
- detectedObjectHandle: handle of detected object (useful when entity to be detected is a collection or sim.handle_all). Can be nullptr
- surfaceNormalVector: normal vector of the surface where the point was detected. Normalized. Relative to the sensor reference frame. Can be nullptr
Return
- -1 if operation was not successful, otherwise 0 (no detection) or 1 (detection)
See also:
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