simReadProximitySensor

Reads the state of a proximity sensor. This function doesn't perform detection, it merely reads the result from a previous call to sim.handleProximitySensor

C++ synopsis

int simReadProximitySensor(int sensorHandle, double* detectedPoint, int* detectedObjectHandle, double* detectedSurfaceNormalVector)

Arguments

• sensorHandle: handle of a proximity sensor object
• detectedPoint: coordinates of the closest detected point (x, y and z: detectedPoint[0]-detectedPoint[2]) relative to the sensor reference frame, and distance to the detected point (1 value: detectedPoint[3]). Can be nullptr
• detectedObjectHandle: handle of the object that was detected. Can be nullptr
• detectedSurfaceNormalVector: normal vector (normalized) of the detected surface. Relative to the sensor reference frame. Can be nullptr

Return

• detection state (0 or 1), or -1 in case of an error, or if simHandleProximitySensor was never called, or if simResetProximitySensor was previously called.