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C++ synopsis
int simCreateProximitySensor(int sensorType, int subType, int options, const int* intParams,
const double* floatParams, const double* reserved)
Arguments
- sensorType: desired proximity sensor type (e.g. sim.proximitysensor_cone_subtype)
- subType: deprecated. Set to 16
- options: bit-coded options:
- bit0 set (1): the sensor will be explicitly handled
- bit1 set (2): reserved. Set to 0
- bit2 set (4): the detection volume is not shown
- bit3 set (8): front faces are not detected
- bit4 set (16): back faces are not detected
- bit5 set (32): fast detection (i.e. not exact detection)
- bit6 set (64): the normal of the detected surface with the detection ray will have to lie below a specified threshold angle
- bit8 set (256): smallest distance threshold will be active
- bit9 set (512): randomized detection (only with ray-type proximity sensors)
- intParams (input): 8 integer parameters:
- intParams[0]: face count (volume description)
- intParams[1]: face count far (volume description)
- intParams[2]: subdivisions (volume description)
- intParams[3]: subdivisions far (volume description)
- intParams[4]: randomized detection, sample count per reading
- intParams[5]: randomized detection, individual ray detection count for triggering
- intParams[6]: reserved. Set to 0
- intParams[7]: reserved. Set to 0
- floatParams (input): 15 floating point parameters:
- floatParams[0]: offset (volume description)
- floatParams[1]: range (volume description)
- floatParams[2]: x size (volume description)
- floatParams[3]: y size (volume description)
- floatParams[4]: x size far (volume description)
- floatParams[5]: y size far (volume description)
- floatParams[6]: inside gap (volume description)
- floatParams[7]: radius (volume description)
- floatParams[8]: radius far (volume description)
- floatParams[9]: angle (volume description)
- floatParams[10]: threshold angle for limited angle detection (see bit 6 above)
- floatParams[11]: smallest detection distance (see bit 8 above)
- floatParams[12]: sensing point size
- floatParams[13]: reserved. Set to 0.0
- floatParams[14]: reserved. Set to 0.0
- reserved: set to nullptr
Return
- -1 if operation was not successful, otherwise the handle of the force sensor
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