-
Notifications
You must be signed in to change notification settings - Fork 0
/
vrepConst.py
executable file
·811 lines (719 loc) · 44 KB
/
vrepConst.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
# This file is part of the REMOTE API
#
# Copyright 2006-2017 Coppelia Robotics GmbH. All rights reserved.
# marc@coppeliarobotics.com
# www.coppeliarobotics.com
#
# The REMOTE API is licensed under the terms of GNU GPL:
#
# -------------------------------------------------------------------
# The REMOTE API is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# THE REMOTE API IS DISTRIBUTED "AS IS", WITHOUT ANY EXPRESS OR IMPLIED
# WARRANTY. THE USER WILL USE IT AT HIS/HER OWN RISK. THE ORIGINAL
# AUTHORS AND COPPELIA ROBOTICS GMBH WILL NOT BE LIABLE FOR DATA LOSS,
# DAMAGES, LOSS OF PROFITS OR ANY OTHER KIND OF LOSS WHILE USING OR
# MISUSING THIS SOFTWARE.
#
# See the GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with the REMOTE API. If not, see <http://www.gnu.org/licenses/>.
# -------------------------------------------------------------------
#
# This file was automatically created for V-REP release V3.4.0 rev. 1 on April 5th 2017
#constants
#Scene object types. Values are serialized
sim_object_shape_type =0
sim_object_joint_type =1
sim_object_graph_type =2
sim_object_camera_type =3
sim_object_dummy_type =4
sim_object_proximitysensor_type =5
sim_object_reserved1 =6
sim_object_reserved2 =7
sim_object_path_type =8
sim_object_visionsensor_type =9
sim_object_volume_type =10
sim_object_mill_type =11
sim_object_forcesensor_type =12
sim_object_light_type =13
sim_object_mirror_type =14
#General object types. Values are serialized
sim_appobj_object_type =109
sim_appobj_collision_type =110
sim_appobj_distance_type =111
sim_appobj_simulation_type =112
sim_appobj_ik_type =113
sim_appobj_constraintsolver_type=114
sim_appobj_collection_type =115
sim_appobj_ui_type =116
sim_appobj_script_type =117
sim_appobj_pathplanning_type =118
sim_appobj_RESERVED_type =119
sim_appobj_texture_type =120
# Ik calculation methods. Values are serialized
sim_ik_pseudo_inverse_method =0
sim_ik_damped_least_squares_method =1
sim_ik_jacobian_transpose_method =2
# Ik constraints. Values are serialized
sim_ik_x_constraint =1
sim_ik_y_constraint =2
sim_ik_z_constraint =4
sim_ik_alpha_beta_constraint=8
sim_ik_gamma_constraint =16
sim_ik_avoidance_constraint =64
# Ik calculation results
sim_ikresult_not_performed =0
sim_ikresult_success =1
sim_ikresult_fail =2
# Scene object sub-types. Values are serialized
# Light sub-types
sim_light_omnidirectional_subtype =1
sim_light_spot_subtype =2
sim_light_directional_subtype =3
# Joint sub-types
sim_joint_revolute_subtype =10
sim_joint_prismatic_subtype =11
sim_joint_spherical_subtype =12
# Shape sub-types
sim_shape_simpleshape_subtype =20
sim_shape_multishape_subtype =21
# Proximity sensor sub-types
sim_proximitysensor_pyramid_subtype =30
sim_proximitysensor_cylinder_subtype=31
sim_proximitysensor_disc_subtype =32
sim_proximitysensor_cone_subtype =33
sim_proximitysensor_ray_subtype =34
# Mill sub-types
sim_mill_pyramid_subtype =40
sim_mill_cylinder_subtype =41
sim_mill_disc_subtype =42
sim_mill_cone_subtype =42
# No sub-type
sim_object_no_subtype =200
#Scene object main properties (serialized)
sim_objectspecialproperty_collidable =0x0001
sim_objectspecialproperty_measurable =0x0002
#reserved =0x0004
#reserved =0x0008
sim_objectspecialproperty_detectable_ultrasonic =0x0010
sim_objectspecialproperty_detectable_infrared =0x0020
sim_objectspecialproperty_detectable_laser =0x0040
sim_objectspecialproperty_detectable_inductive =0x0080
sim_objectspecialproperty_detectable_capacitive =0x0100
sim_objectspecialproperty_renderable =0x0200
sim_objectspecialproperty_detectable_all =sim_objectspecialproperty_detectable_ultrasonic|sim_objectspecialproperty_detectable_infrared|sim_objectspecialproperty_detectable_laser|sim_objectspecialproperty_detectable_inductive|sim_objectspecialproperty_detectable_capacitive
sim_objectspecialproperty_cuttable =0x0400
sim_objectspecialproperty_pathplanning_ignored =0x0800
# Model properties (serialized)
sim_modelproperty_not_collidable =0x0001
sim_modelproperty_not_measurable =0x0002
sim_modelproperty_not_renderable =0x0004
sim_modelproperty_not_detectable =0x0008
sim_modelproperty_not_cuttable =0x0010
sim_modelproperty_not_dynamic =0x0020
sim_modelproperty_not_respondable =0x0040 # cannot be selected if sim_modelproperty_not_dynamic is not selected
sim_modelproperty_not_reset =0x0080 # Model is not reset at simulation end. This flag is cleared at simulation end
sim_modelproperty_not_visible =0x0100 # Whole model is invisible independent of local visibility settings
sim_modelproperty_not_model =0xf000 # object is not a model
# Check the documentation instead of comments below!!
# Following messages are dispatched to the Lua-message container
sim_message_ui_button_state_change =0 # a UI button slider etc. changed (due to a user's action). aux[0]=UI handle aux[1]=button handle aux[2]=button attributes aux[3]=slider position (if slider)
sim_message_reserved9 =1 # Do not use
sim_message_object_selection_changed=2
sim_message_reserved10 =3 # do not use
sim_message_model_loaded =4
sim_message_reserved11 =5 # do not use
sim_message_keypress =6 # a key was pressed while the focus was on a page (aux[0]=key aux[1]=ctrl and shift key state)
sim_message_bannerclicked =7 # a banner was clicked (aux[0]=banner ID)
# Following messages are dispatched only to the C-API (not available from Lua)
sim_message_for_c_api_only_start =0x100 # Do not use
sim_message_reserved1 =0x101 # Do not use
sim_message_reserved2 =0x102 # Do not use
sim_message_reserved3 =0x103 # Do not use
sim_message_eventcallback_scenesave =0x104 # about to save a scene
sim_message_eventcallback_modelsave =0x105 # about to save a model (current selection will be saved)
sim_message_eventcallback_moduleopen =0x106 # called when simOpenModule in Lua is called
sim_message_eventcallback_modulehandle =0x107 # called when simHandleModule in Lua is called with argument false
sim_message_eventcallback_moduleclose =0x108 # called when simCloseModule in Lua is called
sim_message_reserved4 =0x109 # Do not use
sim_message_reserved5 =0x10a # Do not use
sim_message_reserved6 =0x10b # Do not use
sim_message_reserved7 =0x10c # Do not use
sim_message_eventcallback_instancepass =0x10d # Called once every main application loop pass. auxiliaryData[0] contains event flags of events that happened since last time
sim_message_eventcallback_broadcast =0x10e
sim_message_eventcallback_imagefilter_enumreset =0x10f
sim_message_eventcallback_imagefilter_enumerate =0x110
sim_message_eventcallback_imagefilter_adjustparams =0x111
sim_message_eventcallback_imagefilter_reserved =0x112
sim_message_eventcallback_imagefilter_process =0x113
sim_message_eventcallback_reserved1 =0x114 # do not use
sim_message_eventcallback_reserved2 =0x115 # do not use
sim_message_eventcallback_reserved3 =0x116 # do not use
sim_message_eventcallback_reserved4 =0x117 # do not use
sim_message_eventcallback_abouttoundo =0x118 # the undo button was hit and a previous state is about to be restored
sim_message_eventcallback_undoperformed =0x119 # the undo button was hit and a previous state restored
sim_message_eventcallback_abouttoredo =0x11a # the redo button was hit and a future state is about to be restored
sim_message_eventcallback_redoperformed =0x11b # the redo button was hit and a future state restored
sim_message_eventcallback_scripticondblclick =0x11c # scipt icon was double clicked. (aux[0]=object handle associated with script set replyData[0] to 1 if script should not be opened)
sim_message_eventcallback_simulationabouttostart =0x11d
sim_message_eventcallback_simulationended =0x11e
sim_message_eventcallback_reserved5 =0x11f # do not use
sim_message_eventcallback_keypress =0x120 # a key was pressed while the focus was on a page (aux[0]=key aux[1]=ctrl and shift key state)
sim_message_eventcallback_modulehandleinsensingpart =0x121 # called when simHandleModule in Lua is called with argument true
sim_message_eventcallback_renderingpass =0x122 # called just before the scene is rendered
sim_message_eventcallback_bannerclicked =0x123 # called when a banner was clicked (aux[0]=banner ID)
sim_message_eventcallback_menuitemselected =0x124 # auxiliaryData[0] indicates the handle of the item auxiliaryData[1] indicates the state of the item
sim_message_eventcallback_refreshdialogs =0x125 # aux[0]=refresh degree (0=light 1=medium 2=full)
sim_message_eventcallback_sceneloaded =0x126
sim_message_eventcallback_modelloaded =0x127
sim_message_eventcallback_instanceswitch =0x128
sim_message_eventcallback_guipass =0x129
sim_message_eventcallback_mainscriptabouttobecalled =0x12a
sim_message_eventcallback_rmlposition =0x12b #the command simRMLPosition was called. The appropriate plugin should handle the call
sim_message_eventcallback_rmlvelocity =0x12c # the command simRMLVelocity was called. The appropriate plugin should handle the call
sim_message_simulation_start_resume_request =0x1000
sim_message_simulation_pause_request =0x1001
sim_message_simulation_stop_request =0x1002
# Scene object properties. Combine with the | operator
sim_objectproperty_reserved1 =0x0000
sim_objectproperty_reserved2 =0x0001
sim_objectproperty_reserved3 =0x0002
sim_objectproperty_reserved4 =0x0003
sim_objectproperty_reserved5 =0x0004 # formely sim_objectproperty_visible
sim_objectproperty_reserved6 =0x0008 # formely sim_objectproperty_wireframe
sim_objectproperty_collapsed =0x0010
sim_objectproperty_selectable =0x0020
sim_objectproperty_reserved7 =0x0040
sim_objectproperty_selectmodelbaseinstead =0x0080
sim_objectproperty_dontshowasinsidemodel =0x0100
# reserved =0x0200
sim_objectproperty_canupdatedna =0x0400
sim_objectproperty_selectinvisible =0x0800
sim_objectproperty_depthinvisible =0x1000
# type of arguments (input and output) for custom lua commands
sim_lua_arg_nil =0
sim_lua_arg_bool =1
sim_lua_arg_int =2
sim_lua_arg_float =3
sim_lua_arg_string =4
sim_lua_arg_invalid =5
sim_lua_arg_table =8
# custom user interface properties. Values are serialized.
sim_ui_property_visible =0x0001
sim_ui_property_visibleduringsimulationonly =0x0002
sim_ui_property_moveable =0x0004
sim_ui_property_relativetoleftborder =0x0008
sim_ui_property_relativetotopborder =0x0010
sim_ui_property_fixedwidthfont =0x0020
sim_ui_property_systemblock =0x0040
sim_ui_property_settocenter =0x0080
sim_ui_property_rolledup =0x0100
sim_ui_property_selectassociatedobject =0x0200
sim_ui_property_visiblewhenobjectselected =0x0400
# button properties. Values are serialized.
sim_buttonproperty_button =0x0000
sim_buttonproperty_label =0x0001
sim_buttonproperty_slider =0x0002
sim_buttonproperty_editbox =0x0003
sim_buttonproperty_staydown =0x0008
sim_buttonproperty_enabled =0x0010
sim_buttonproperty_borderless =0x0020
sim_buttonproperty_horizontallycentered =0x0040
sim_buttonproperty_ignoremouse =0x0080
sim_buttonproperty_isdown =0x0100
sim_buttonproperty_transparent =0x0200
sim_buttonproperty_nobackgroundcolor =0x0400
sim_buttonproperty_rollupaction =0x0800
sim_buttonproperty_closeaction =0x1000
sim_buttonproperty_verticallycentered =0x2000
sim_buttonproperty_downupevent =0x4000
# Simulation status
sim_simulation_stopped =0x00 # Simulation is stopped
sim_simulation_paused =0x08 # Simulation is paused
sim_simulation_advancing =0x10 # Simulation is advancing
sim_simulation_advancing_firstafterstop =sim_simulation_advancing|0x00 # First simulation pass (1x)
sim_simulation_advancing_running =sim_simulation_advancing|0x01 # Normal simulation pass (>=1x)
# reserved =sim_simulation_advancing|0x02
sim_simulation_advancing_lastbeforepause =sim_simulation_advancing|0x03 # Last simulation pass before pause (1x)
sim_simulation_advancing_firstafterpause =sim_simulation_advancing|0x04 # First simulation pass after pause (1x)
sim_simulation_advancing_abouttostop =sim_simulation_advancing|0x05 # "Trying to stop" simulation pass (>=1x)
sim_simulation_advancing_lastbeforestop =sim_simulation_advancing|0x06 # Last simulation pass (1x)
# Script execution result (first return value)
sim_script_no_error =0
sim_script_main_script_nonexistent =1
sim_script_main_script_not_called =2
sim_script_reentrance_error =4
sim_script_lua_error =8
sim_script_call_error =16
# Script types (serialized!)
sim_scripttype_mainscript =0
sim_scripttype_childscript =1
sim_scripttype_jointctrlcallback =4
sim_scripttype_contactcallback =5
sim_scripttype_customizationscript =6
sim_scripttype_generalcallback =7
# API call error messages
sim_api_errormessage_ignore =0 # does not memorize nor output errors
sim_api_errormessage_report =1 # memorizes errors (default for C-API calls)
sim_api_errormessage_output =2 # memorizes and outputs errors (default for Lua-API calls)
# special argument of some functions
sim_handle_all =-2
sim_handle_all_except_explicit =-3
sim_handle_self =-4
sim_handle_main_script =-5
sim_handle_tree =-6
sim_handle_chain =-7
sim_handle_single =-8
sim_handle_default =-9
sim_handle_all_except_self =-10
sim_handle_parent =-11
# special handle flags
sim_handleflag_assembly =0x400000
sim_handleflag_model =0x800000
# distance calculation methods (serialized)
sim_distcalcmethod_dl =0
sim_distcalcmethod_dac =1
sim_distcalcmethod_max_dl_dac =2
sim_distcalcmethod_dl_and_dac =3
sim_distcalcmethod_sqrt_dl2_and_dac2=4
sim_distcalcmethod_dl_if_nonzero =5
sim_distcalcmethod_dac_if_nonzero =6
# Generic dialog styles
sim_dlgstyle_message =0
sim_dlgstyle_input =1
sim_dlgstyle_ok =2
sim_dlgstyle_ok_cancel =3
sim_dlgstyle_yes_no =4
sim_dlgstyle_dont_center =32# can be combined with one of above values. Only with this flag can the position of the related UI be set just after dialog creation
# Generic dialog return values
sim_dlgret_still_open =0
sim_dlgret_ok =1
sim_dlgret_cancel =2
sim_dlgret_yes =3
sim_dlgret_no =4
# Path properties
sim_pathproperty_show_line =0x0001
sim_pathproperty_show_orientation =0x0002
sim_pathproperty_closed_path =0x0004
sim_pathproperty_automatic_orientation =0x0008
sim_pathproperty_invert_velocity =0x0010
sim_pathproperty_infinite_acceleration =0x0020
sim_pathproperty_flat_path =0x0040
sim_pathproperty_show_position =0x0080
sim_pathproperty_auto_velocity_profile_translation =0x0100
sim_pathproperty_auto_velocity_profile_rotation =0x0200
sim_pathproperty_endpoints_at_zero =0x0400
sim_pathproperty_keep_x_up =0x0800
# drawing objects
# following are mutually exclusive
sim_drawing_points =0 # 3 values per point (point size in pixels)
sim_drawing_lines =1 # 6 values per line (line size in pixels)
sim_drawing_triangles =2 # 9 values per triangle
sim_drawing_trianglepoints =3 # 6 values per point (3 for triangle position 3 for triangle normal vector) (triangle size in meters)
sim_drawing_quadpoints =4 # 6 values per point (3 for quad position 3 for quad normal vector) (quad size in meters)
sim_drawing_discpoints =5 # 6 values per point (3 for disc position 3 for disc normal vector) (disc size in meters)
sim_drawing_cubepoints =6 # 6 values per point (3 for cube position 3 for cube normal vector) (cube size in meters)
sim_drawing_spherepoints =7 # 3 values per point (sphere size in meters)
# following can be or-combined
sim_drawing_itemcolors =0x00020 # +3 values per item (each item has its own ambient color (rgb values)).
# Mutually exclusive with sim_drawing_vertexcolors
sim_drawing_vertexcolors =0x00040 # +3 values per vertex (each vertex has its own ambient color (rgb values). Only for sim_drawing_lines (+6) and for sim_drawing_triangles(+9)). Mutually exclusive with sim_drawing_itemcolors
sim_drawing_itemsizes =0x00080 # +1 value per item (each item has its own size). Not for sim_drawing_triangles
sim_drawing_backfaceculling =0x00100 # back faces are not displayed for all items
sim_drawing_wireframe =0x00200 # all items displayed in wireframe
sim_drawing_painttag =0x00400 # all items are tagged as paint (for additinal processing at a later stage)
sim_drawing_followparentvisibility =0x00800 # if the object is associated with a scene object then it follows that visibility otherwise it is always visible
sim_drawing_cyclic =0x01000 # if the max item count was reached then the first items are overwritten.
sim_drawing_50percenttransparency =0x02000 # the drawing object will be 50% transparent
sim_drawing_25percenttransparency =0x04000 # the drawing object will be 25% transparent
sim_drawing_12percenttransparency =0x08000 # the drawing object will be 12.5% transparent
sim_drawing_emissioncolor =0x10000 # When used in combination with sim_drawing_itemcolors or sim_drawing_vertexcolors then the specified colors will be for the emissive component
sim_drawing_facingcamera =0x20000 # Only for trianglepoints quadpoints discpoints and cubepoints. If specified the normal verctor is calculated to face the camera (each item data requires 3 values less)
sim_drawing_overlay =0x40000 # When specified objects are always drawn on top of "regular objects"
sim_drawing_itemtransparency =0x80000 # +1 value per item (each item has its own transparency value (0-1)). Not compatible with sim_drawing_vertexcolors
# banner values
# following can be or-combined
sim_banner_left =0x00001 # Banners display on the left of the specified point
sim_banner_right =0x00002 # Banners display on the right of the specified point
sim_banner_nobackground =0x00004 # Banners have no background rectangle
sim_banner_overlay =0x00008 # When specified banners are always drawn on top of "regular objects"
sim_banner_followparentvisibility =0x00010 # if the object is associated with a scene object then it follows that visibility otherwise it is always visible
sim_banner_clickselectsparent =0x00020 # if the object is associated with a scene object then clicking the banner will select the scene object
sim_banner_clicktriggersevent =0x00040 # if the banner is clicked an event is triggered (sim_message_eventcallback_bannerclicked and sim_message_bannerclicked are generated)
sim_banner_facingcamera =0x00080 # If specified the banner will always face the camera by rotating around the banner's vertical axis (y-axis)
sim_banner_fullyfacingcamera =0x00100 # If specified the banner will always fully face the camera (the banner's orientation is same as the camera looking at it)
sim_banner_backfaceculling =0x00200 # If specified the banner will only be visible from one side
sim_banner_keepsamesize =0x00400 # If specified the banner will always appear in the same size. In that case size represents the character height in pixels
sim_banner_bitmapfont =0x00800 # If specified a fixed-size bitmap font is used. The text will also always fully face the camera and be right
# to the specified position. Bitmap fonts are not clickable
# particle objects following are mutually exclusive
sim_particle_points1 =0 # 6 values per point (pt1 and pt2. Pt1 is start position pt2-pt1 is the initial velocity vector). i
#Point is 1 pixel big. Only appearance is a point internally handled as a perfect sphere
sim_particle_points2 =1 # 6 values per point. Point is 2 pixel big. Only appearance is a point internally handled as a perfect sphere
sim_particle_points4 =2 # 6 values per point. Point is 4 pixel big. Only appearance is a point internally handled as a perfect sphere
sim_particle_roughspheres =3 # 6 values per sphere. Only appearance is rough. Internally a perfect sphere
sim_particle_spheres =4 # 6 values per sphere. Internally a perfect sphere
# following can be or-combined
sim_particle_respondable1to4 =0x0020 # the particles are respondable against shapes (against all objects that have at least one bit 1-4 activated in the global respondable mask)
sim_particle_respondable5to8 =0x0040 # the particles are respondable against shapes (against all objects that have at least one bit 5-8 activated in the global respondable mask)
sim_particle_particlerespondable =0x0080 # the particles are respondable against each other
sim_particle_ignoresgravity =0x0100 # the particles ignore the effect of gravity. Not compatible with sim_particle_water
sim_particle_invisible =0x0200 # the particles are invisible
sim_particle_itemsizes =0x0400 # +1 value per particle (each particle can have a different size)
sim_particle_itemdensities =0x0800 # +1 value per particle (each particle can have a different density)
sim_particle_itemcolors =0x1000 # +3 values per particle (each particle can have a different color)
sim_particle_cyclic =0x2000 # if the max item count was reached then the first items are overwritten.
sim_particle_emissioncolor =0x4000 # When used in combination with sim_particle_itemcolors then the specified colors will be for the emissive component
sim_particle_water =0x8000 # the particles are water particles (no weight in the water (i.e. when z<0)). Not compatible with sim_particle_ignoresgravity
sim_particle_painttag =0x10000 # The particles can be seen by vision sensors (sim_particle_invisible must not be set)
# custom user interface menu attributes
sim_ui_menu_title =1
sim_ui_menu_minimize =2
sim_ui_menu_close =4
sim_ui_menu_systemblock =8
# Boolean parameters
sim_boolparam_hierarchy_visible =0
sim_boolparam_console_visible =1
sim_boolparam_collision_handling_enabled =2
sim_boolparam_distance_handling_enabled =3
sim_boolparam_ik_handling_enabled =4
sim_boolparam_gcs_handling_enabled =5
sim_boolparam_dynamics_handling_enabled =6
sim_boolparam_joint_motion_handling_enabled =7
sim_boolparam_path_motion_handling_enabled =8
sim_boolparam_proximity_sensor_handling_enabled =9
sim_boolparam_vision_sensor_handling_enabled =10
sim_boolparam_mill_handling_enabled =11
sim_boolparam_browser_visible =12
sim_boolparam_scene_and_model_load_messages =13
sim_reserved0 =14
sim_boolparam_shape_textures_are_visible =15
sim_boolparam_display_enabled =16
sim_boolparam_infotext_visible =17
sim_boolparam_statustext_open =18
sim_boolparam_fog_enabled =19
sim_boolparam_rml2_available =20
sim_boolparam_rml4_available =21
sim_boolparam_mirrors_enabled =22
sim_boolparam_aux_clip_planes_enabled =23
sim_boolparam_full_model_copy_from_api =24
sim_boolparam_realtime_simulation =25
sim_boolparam_force_show_wireless_emission =27
sim_boolparam_force_show_wireless_reception =28
sim_boolparam_video_recording_triggered =29
sim_boolparam_threaded_rendering_enabled =32
sim_boolparam_fullscreen =33
sim_boolparam_headless =34
sim_boolparam_hierarchy_toolbarbutton_enabled =35
sim_boolparam_browser_toolbarbutton_enabled =36
sim_boolparam_objectshift_toolbarbutton_enabled =37
sim_boolparam_objectrotate_toolbarbutton_enabled=38
sim_boolparam_force_calcstruct_all_visible =39
sim_boolparam_force_calcstruct_all =40
sim_boolparam_exit_request =41
sim_boolparam_play_toolbarbutton_enabled =42
sim_boolparam_pause_toolbarbutton_enabled =43
sim_boolparam_stop_toolbarbutton_enabled =44
sim_boolparam_waiting_for_trigger =45
# Integer parameters
sim_intparam_error_report_mode =0 # Check sim_api_errormessage_... constants above for valid values
sim_intparam_program_version =1 # e.g Version 2.1.4 --> 20104. Can only be read
sim_intparam_instance_count =2 # do not use anymore (always returns 1 since V-REP 2.5.11)
sim_intparam_custom_cmd_start_id =3 # can only be read
sim_intparam_compilation_version =4 # 0=evaluation version 1=full version 2=player version. Can only be read
sim_intparam_current_page =5
sim_intparam_flymode_camera_handle =6 # can only be read
sim_intparam_dynamic_step_divider =7 # can only be read
sim_intparam_dynamic_engine =8 # 0=Bullet 1=ODE. 2=Vortex.
sim_intparam_server_port_start =9 # can only be read
sim_intparam_server_port_range =10 # can only be read
sim_intparam_visible_layers =11
sim_intparam_infotext_style =12
sim_intparam_settings =13
sim_intparam_edit_mode_type =14 # can only be read
sim_intparam_server_port_next =15 # is initialized at sim_intparam_server_port_start
sim_intparam_qt_version =16 # version of the used Qt framework
sim_intparam_event_flags_read =17 # can only be read
sim_intparam_event_flags_read_clear =18 # can only be read
sim_intparam_platform =19 # can only be read
sim_intparam_scene_unique_id =20 # can only be read
sim_intparam_work_thread_count =21
sim_intparam_mouse_x =22
sim_intparam_mouse_y =23
sim_intparam_core_count =24
sim_intparam_work_thread_calc_time_ms =25
sim_intparam_idle_fps =26
sim_intparam_prox_sensor_select_down =27
sim_intparam_prox_sensor_select_up =28
sim_intparam_stop_request_counter =29
sim_intparam_program_revision =30
sim_intparam_mouse_buttons =31
sim_intparam_dynamic_warning_disabled_mask =32
sim_intparam_simulation_warning_disabled_mask =33
sim_intparam_scene_index =34
sim_intparam_motionplanning_seed =35
sim_intparam_speedmodifier =36
# Float parameters
sim_floatparam_rand=0 # random value (0.0-1.0)
sim_floatparam_simulation_time_step =1
sim_floatparam_stereo_distance =2
# String parameters
sim_stringparam_application_path=0 # path of V-REP's executable
sim_stringparam_video_filename=1
sim_stringparam_app_arg1 =2
sim_stringparam_app_arg2 =3
sim_stringparam_app_arg3 =4
sim_stringparam_app_arg4 =5
sim_stringparam_app_arg5 =6
sim_stringparam_app_arg6 =7
sim_stringparam_app_arg7 =8
sim_stringparam_app_arg8 =9
sim_stringparam_app_arg9 =10
sim_stringparam_scene_path_and_name =13
# Array parameters
sim_arrayparam_gravity =0
sim_arrayparam_fog =1
sim_arrayparam_fog_color =2
sim_arrayparam_background_color1=3
sim_arrayparam_background_color2=4
sim_arrayparam_ambient_light =5
sim_arrayparam_random_euler =6
sim_objintparam_visibility_layer= 10
sim_objfloatparam_abs_x_velocity= 11
sim_objfloatparam_abs_y_velocity= 12
sim_objfloatparam_abs_z_velocity= 13
sim_objfloatparam_abs_rot_velocity= 14
sim_objfloatparam_objbbox_min_x= 15
sim_objfloatparam_objbbox_min_y= 16
sim_objfloatparam_objbbox_min_z= 17
sim_objfloatparam_objbbox_max_x= 18
sim_objfloatparam_objbbox_max_y= 19
sim_objfloatparam_objbbox_max_z= 20
sim_objfloatparam_modelbbox_min_x= 21
sim_objfloatparam_modelbbox_min_y= 22
sim_objfloatparam_modelbbox_min_z= 23
sim_objfloatparam_modelbbox_max_x= 24
sim_objfloatparam_modelbbox_max_y= 25
sim_objfloatparam_modelbbox_max_z= 26
sim_objintparam_collection_self_collision_indicator= 27
sim_objfloatparam_transparency_offset= 28
sim_objintparam_child_role= 29
sim_objintparam_parent_role= 30
sim_objintparam_manipulation_permissions= 31
sim_objintparam_illumination_handle= 32
sim_visionfloatparam_near_clipping= 1000
sim_visionfloatparam_far_clipping= 1001
sim_visionintparam_resolution_x= 1002
sim_visionintparam_resolution_y= 1003
sim_visionfloatparam_perspective_angle= 1004
sim_visionfloatparam_ortho_size= 1005
sim_visionintparam_disabled_light_components= 1006
sim_visionintparam_rendering_attributes= 1007
sim_visionintparam_entity_to_render= 1008
sim_visionintparam_windowed_size_x= 1009
sim_visionintparam_windowed_size_y= 1010
sim_visionintparam_windowed_pos_x= 1011
sim_visionintparam_windowed_pos_y= 1012
sim_visionintparam_pov_focal_blur= 1013
sim_visionfloatparam_pov_blur_distance= 1014
sim_visionfloatparam_pov_aperture= 1015
sim_visionintparam_pov_blur_sampled= 1016
sim_visionintparam_render_mode= 1017
sim_jointintparam_motor_enabled= 2000
sim_jointintparam_ctrl_enabled= 2001
sim_jointfloatparam_pid_p= 2002
sim_jointfloatparam_pid_i= 2003
sim_jointfloatparam_pid_d= 2004
sim_jointfloatparam_intrinsic_x= 2005
sim_jointfloatparam_intrinsic_y= 2006
sim_jointfloatparam_intrinsic_z= 2007
sim_jointfloatparam_intrinsic_qx= 2008
sim_jointfloatparam_intrinsic_qy= 2009
sim_jointfloatparam_intrinsic_qz= 2010
sim_jointfloatparam_intrinsic_qw= 2011
sim_jointfloatparam_velocity= 2012
sim_jointfloatparam_spherical_qx= 2013
sim_jointfloatparam_spherical_qy= 2014
sim_jointfloatparam_spherical_qz= 2015
sim_jointfloatparam_spherical_qw= 2016
sim_jointfloatparam_upper_limit= 2017
sim_jointfloatparam_kc_k= 2018
sim_jointfloatparam_kc_c= 2019
sim_jointfloatparam_ik_weight= 2021
sim_jointfloatparam_error_x= 2022
sim_jointfloatparam_error_y= 2023
sim_jointfloatparam_error_z= 2024
sim_jointfloatparam_error_a= 2025
sim_jointfloatparam_error_b= 2026
sim_jointfloatparam_error_g= 2027
sim_jointfloatparam_error_pos= 2028
sim_jointfloatparam_error_angle= 2029
sim_jointintparam_velocity_lock= 2030
sim_jointintparam_vortex_dep_handle= 2031
sim_jointfloatparam_vortex_dep_multiplication= 2032
sim_jointfloatparam_vortex_dep_offset= 2033
sim_shapefloatparam_init_velocity_x= 3000
sim_shapefloatparam_init_velocity_y= 3001
sim_shapefloatparam_init_velocity_z= 3002
sim_shapeintparam_static= 3003
sim_shapeintparam_respondable= 3004
sim_shapefloatparam_mass= 3005
sim_shapefloatparam_texture_x= 3006
sim_shapefloatparam_texture_y= 3007
sim_shapefloatparam_texture_z= 3008
sim_shapefloatparam_texture_a= 3009
sim_shapefloatparam_texture_b= 3010
sim_shapefloatparam_texture_g= 3011
sim_shapefloatparam_texture_scaling_x= 3012
sim_shapefloatparam_texture_scaling_y= 3013
sim_shapeintparam_culling= 3014
sim_shapeintparam_wireframe= 3015
sim_shapeintparam_compound= 3016
sim_shapeintparam_convex= 3017
sim_shapeintparam_convex_check= 3018
sim_shapeintparam_respondable_mask= 3019
sim_shapefloatparam_init_velocity_a= 3020
sim_shapefloatparam_init_velocity_b= 3021
sim_shapefloatparam_init_velocity_g= 3022
sim_shapestringparam_color_name= 3023
sim_shapeintparam_edge_visibility= 3024
sim_shapefloatparam_shading_angle= 3025
sim_shapefloatparam_edge_angle= 3026
sim_shapeintparam_edge_borders_hidden= 3027
sim_proxintparam_ray_invisibility= 4000
sim_forcefloatparam_error_x= 5000
sim_forcefloatparam_error_y= 5001
sim_forcefloatparam_error_z= 5002
sim_forcefloatparam_error_a= 5003
sim_forcefloatparam_error_b= 5004
sim_forcefloatparam_error_g= 5005
sim_forcefloatparam_error_pos= 5006
sim_forcefloatparam_error_angle= 5007
sim_lightintparam_pov_casts_shadows= 8000
sim_cameraintparam_disabled_light_components= 9000
sim_camerafloatparam_perspective_angle= 9001
sim_camerafloatparam_ortho_size= 9002
sim_cameraintparam_rendering_attributes= 9003
sim_cameraintparam_pov_focal_blur= 9004
sim_camerafloatparam_pov_blur_distance= 9005
sim_camerafloatparam_pov_aperture= 9006
sim_cameraintparam_pov_blur_samples= 9007
sim_dummyintparam_link_type= 10000
sim_mirrorfloatparam_width= 12000
sim_mirrorfloatparam_height= 12001
sim_mirrorfloatparam_reflectance= 12002
sim_mirrorintparam_enable= 12003
sim_pplanfloatparam_x_min= 20000
sim_pplanfloatparam_x_range= 20001
sim_pplanfloatparam_y_min= 20002
sim_pplanfloatparam_y_range= 20003
sim_pplanfloatparam_z_min= 20004
sim_pplanfloatparam_z_range= 20005
sim_pplanfloatparam_delta_min= 20006
sim_pplanfloatparam_delta_range= 20007
sim_mplanintparam_nodes_computed= 25000
sim_mplanintparam_prepare_nodes= 25001
sim_mplanintparam_clear_nodes= 25002
# User interface elements
sim_gui_menubar =0x0001
sim_gui_popups =0x0002
sim_gui_toolbar1 =0x0004
sim_gui_toolbar2 =0x0008
sim_gui_hierarchy =0x0010
sim_gui_infobar =0x0020
sim_gui_statusbar =0x0040
sim_gui_scripteditor =0x0080
sim_gui_scriptsimulationparameters =0x0100
sim_gui_dialogs =0x0200
sim_gui_browser =0x0400
sim_gui_all =0xffff
# Joint modes
sim_jointmode_passive =0
sim_jointmode_motion =1
sim_jointmode_ik =2
sim_jointmode_ikdependent =3
sim_jointmode_dependent =4
sim_jointmode_force =5
# Navigation and selection modes with the mouse. Lower byte values are mutually exclusive upper byte bits can be combined
sim_navigation_passive =0x0000
sim_navigation_camerashift =0x0001
sim_navigation_camerarotate =0x0002
sim_navigation_camerazoom =0x0003
sim_navigation_cameratilt =0x0004
sim_navigation_cameraangle =0x0005
sim_navigation_camerafly =0x0006
sim_navigation_objectshift =0x0007
sim_navigation_objectrotate =0x0008
sim_navigation_reserved2 =0x0009
sim_navigation_reserved3 =0x000A
sim_navigation_jointpathtest =0x000B
sim_navigation_ikmanip =0x000C
sim_navigation_objectmultipleselection =0x000D
# Bit-combine following values and add them to one of above's values for a valid navigation mode
sim_navigation_reserved4 =0x0100
sim_navigation_clickselection =0x0200
sim_navigation_ctrlselection =0x0400
sim_navigation_shiftselection =0x0800
sim_navigation_camerazoomwheel =0x1000
sim_navigation_camerarotaterightbutton =0x2000
#Remote API constants
SIMX_VERSION =0
# Remote API message header structure
SIMX_HEADER_SIZE =18
simx_headeroffset_crc =0 # 1 simxUShort. Generated by the client or server. The CRC for the message
simx_headeroffset_version =2 # 1 byte. Generated by the client or server. The version of the remote API software
simx_headeroffset_message_id =3 # 1 simxInt. Generated by the client (and used in a reply by the server)
simx_headeroffset_client_time =7 # 1 simxInt. Client time stamp generated by the client (and sent back by the server)
simx_headeroffset_server_time =11 # 1 simxInt. Generated by the server when a reply is generated. The server timestamp
simx_headeroffset_scene_id =15 # 1 simxUShort. Generated by the server. A unique ID identifying the scene currently displayed
simx_headeroffset_server_state =17 # 1 byte. Generated by the server. Bit coded 0 set --> simulation not stopped 1 set --> simulation paused 2 set --> real-time switch on 3-5 edit mode type (0=no edit mode 1=triangle 2=vertex 3=edge 4=path 5=UI)
# Remote API command header
SIMX_SUBHEADER_SIZE =26
simx_cmdheaderoffset_mem_size =0 # 1 simxInt. Generated by the client or server. The buffer size of the command.
simx_cmdheaderoffset_full_mem_size =4 # 1 simxInt. Generated by the client or server. The full buffer size of the command (applies to split chunks).
simx_cmdheaderoffset_pdata_offset0 =8 # 1 simxUShort. Generated by the client or server. The amount of data that is part of the command identification.
simx_cmdheaderoffset_pdata_offset1 =10 # 1 simxInt. Generated by the client or server. The amount of shift of the pure data buffer (applies to split chunks).
simx_cmdheaderoffset_cmd=14 # 1 simxInt. Generated by the client (and used in a reply by the server). The command combined with the operation mode of the command.
simx_cmdheaderoffset_delay_or_split =18 # 1 simxUShort. Generated by the client or server. The amount of delay in ms of a continuous command or the max. pure data size to send at once (applies to split commands).
simx_cmdheaderoffset_sim_time =20 # 1 simxInt. Generated by the server. The simulation time (in ms) when the command was executed (or 0 if simulation is not running)
simx_cmdheaderoffset_status =24 # 1 byte. Generated by the server. (1 bit 0 is set --> error in function execution on server side). The client writes bit 1 if command cannot be overwritten
simx_cmdheaderoffset_reserved =25 # 1 byte. Not yet used
# Regular operation modes
simx_opmode_oneshot =0x000000 # sends command as one chunk. Reply will also come as one chunk. Doesn't wait for the reply.
simx_opmode_blocking =0x010000 # sends command as one chunk. Reply will also come as one chunk. Waits for the reply (_REPLY_WAIT_TIMEOUT_IN_MS is the timeout).
simx_opmode_oneshot_wait =0x010000 # sends command as one chunk. Reply will also come as one chunk. Waits for the reply (_REPLY_WAIT_TIMEOUT_IN_MS is the timeout).
simx_opmode_continuous =0x020000
simx_opmode_streaming =0x020000 # sends command as one chunk. Command will be stored on the server and always executed
#(every x ms (as far as possible) where x can be 0-65535. just add x to opmode_continuous).
# A reply will be sent continuously each time as one chunk. Doesn't wait for the reply.
# Operation modes for heavy data
simx_opmode_oneshot_split =0x030000 # sends command as several chunks (max chunk size is x bytes where x can be _MIN_SPLIT_AMOUNT_IN_BYTES-65535. Just add x to opmode_oneshot_split). Reply will also come as several chunks. Doesn't wait for the reply.
simx_opmode_continuous_split =0x040000
simx_opmode_streaming_split =0x040000 # sends command as several chunks (max chunk size is x bytes where x can be _MIN_SPLIT_AMOUNT_IN_BYTES-65535. Just add x to opmode_continuous_split). Command will be stored on the server and always executed. A reply will be sent continuously each time as several chunks. Doesn't wait for the reply.
# Special operation modes
simx_opmode_discontinue =0x050000 # removes and cancels all commands stored on the client or server side (also continuous commands)
simx_opmode_buffer =0x060000 # doesn't send anything but checks if a reply for the given command is available in the input buffer (i.e. previously received from the server)
simx_opmode_remove =0x070000 # doesn't send anything and doesn't return any specific value. It just erases a similar command reply in the inbox (to free some memory)
# Command return codes
simx_return_ok =0x000000
simx_return_novalue_flag =0x000001 # input buffer doesn't contain the specified command
simx_return_timeout_flag =0x000002 # command reply not received in time for opmode_oneshot_wait operation mode
simx_return_illegal_opmode_flag =0x000004 # command doesn't support the specified operation mode
simx_return_remote_error_flag =0x000008 # command caused an error on the server side
simx_return_split_progress_flag =0x000010 # previous similar command not yet fully processed (applies to opmode_oneshot_split operation modes)
simx_return_local_error_flag =0x000020 # command caused an error on the client side
simx_return_initialize_error_flag =0x000040 # simxStart was not yet called
# Following for backward compatibility (same as above)
simx_error_noerror =0x000000
simx_error_novalue_flag =0x000001 # input buffer doesn't contain the specified command
simx_error_timeout_flag =0x000002 # command reply not received in time for opmode_oneshot_wait operation mode
simx_error_illegal_opmode_flag =0x000004 # command doesn't support the specified operation mode
simx_error_remote_error_flag =0x000008 # command caused an error on the server side
simx_error_split_progress_flag =0x000010 # previous similar command not yet fully processed (applies to opmode_oneshot_split operation modes)
simx_error_local_error_flag =0x000020 # command caused an error on the client side
simx_error_initialize_error_flag =0x000040 # simxStart was not yet called