: the handle of an IK group that is in charge of bringing the manipulator's tip onto a target. The IK group can also be marked as explicit handling
if needed. See also simGetIkGroupHandle
jointCnt: the number of joint handles provided in the jointHandles array.
jointHandles (input): an array with jointCnt entries, that specifies the joint handles for the joints we wish to retrieve the values calculated by the IK.
ptCnt: the desired number of path points. Each path point contains a robot configuration. A minimum of two path points is required. If the tip-target dummy distance is large, a larger number for ptCnt leads to better results for this function.
collisionPairCnt: the number of collision pairs. Can be 0 if collision checking is not required.
: an array containing 2 entity
handles for each collision pair. A collision pair is represented by a collider and a collidee, that will be tested against each other. The first pair could be used for robot self-collision testing, and a second pair could be used for robot-environment collision testing. The collider can be an object
or a collection
handle. The collidee can be an object or collection handle, or sim_handle_all
, in which case the collider will be checked agains all other collidable objects in the scene. Can be nullptr if collision checking is not required.
jointOptions: a bit-coded value corresponding to each specified joint handle. Bit 0 (i.e. 1) indicates the corresponding joint is dependent of another joint. Can be nullptr.
reserved: reserved for future extension. Set to nullptr.