
Regular API function list (by category)
The list of API functions below allows you to access many V-REP parameters. There are however too many parameters in V-REP to have a specific API function for each one of them. Auxiliary parameters can be accessed via a set of given functions that use object parameter IDs. Refer also to the global parameter IDs.
File operations
simCloseScene
simSaveScene
simLoadScene
simSaveModel
simLoadModel
simDoesFileExist
simImportShape
simImportMesh
simExportMesh
simExportIk
simLaunchExecutable
simFileDialog
simCreateTexture
General object handle retrieval
simGetObjectHandle
simGetCollectionHandle
simGetCollisionHandle
simGetDistanceHandle
simGetMechanismHandle
simGetIkGroupHandle
simGetScriptHandle
simIsHandleValid
simGetObjectAssociatedWithScript
simGetObjects
simGetObjectsInTree
simGetCollectionObjects
simGetNameSuffix
simSetNameSuffix
simSetReferencedHandles
simGetReferencedHandles
General functionality handling
simHandleMainScript
simHandleChildScripts
simHandleGeneralCallbackScript
simLaunchThreadedChildScripts
simResetScript
simHandleCollision
simResetCollision
simHandleDistance
simResetDistance
simHandleMechanism
simHandleGraph
simResetGraph
simHandleIkGroup
simHandleModule
simHandleProximitySensor
simResetProximitySensor
simHandleVisionSensor
simResetVisionSensor
simHandleMill
simResetMill
simApplyMilling
simResetMilling
simHandleSensingStart
simHandleSimulationStart
simGetExplicitHandling
simSetExplicitHandling
Collision detection functionality
simGetCollisionHandle
simIsHandleValid
simHandleCollision
simReadCollision
simResetCollision
simCheckCollision
simCheckCollisionEx
See also the simSetObjectXXXParameter and simGetObjectXXXParameter functions
and their collision object related parameters.
Minimum distance calculation functionality
simGetDistanceHandle
simIsHandleValid
simHandleDistance
simReadDistance
simResetDistance
simCheckDistance
See also the simSetObjectXXXParameter and simGetObjectXXXParameter functions
and their distance object related parameters.
IK and geometric constraint solver functionalities
simGetIkGroupHandle
simIsHandleValid
simHandleIkGroup
simCheckIkGroup
simComputeJacobian
simSetIkElementProperties
simSetIkGroupProperties
simGetIkGroupMatrix
simGetMechanismHandle
simHandleMechanism
simGetLinkDummy
simSetLinkDummy
simGenerateIkPath
simCreateIkGroup
simRemoveIkGroup
simCreateIkElement
simExportIk
See also the simSetObjectXXXParameter and simGetObjectXXXParameter functions
and their IK group and geometric constraint solver object related parameters.
Path/Motion planning functionality
OMPL plugin API functions with some explanation here
simGetConfigForTipPose
simGenerateIkPath
Dynamics functionality
simHandleDynamics
simSetJointTargetPosition
simSetJointTargetVelocity
simSetJointForce
simReadForceSensor
simBreakForceSensor
simGetJointForce
simAddForce
simAddForceAndTorque
simGetVelocity
simGetLinkDummy
simSetLinkDummy
simResetDynamicObject
simAddParticleObject
simAddParticleObjectItem
simRemoveParticleObject
simGetContactInfo
simRegisterContactCallback
simGetShapeMassAndInertia
simSetShapeMassAndInertia
simComputeMassAndInertia
simCreateForceSensor
simConvexDecompose
simGetQHull
simGetDecimatedMesh
simRegisterJointCtrlCallback
simSetShapeMaterial
simGetEngineFloatParameter
simGetEngineInt32Parameter
simGetEngineBoolParameter
simSetEngineFloatParameter
simSetEngineInt32Parameter
simSetEngineBoolParameter
Proximity sensor functionality
simGetObjectHandle
simIsHandleValid
simHandleProximitySensor
simReadProximitySensor
simResetProximitySensor
simCheckProximitySensor
simCheckProximitySensorEx
simCheckProximitySensorEx2
simCreateProximitySensor
simGetObjectInt32Parameter
simSetObjectInt32Parameter
simGetObjectFloatParameter
simSetObjectFloatParameter
simGetObjectStringParameter
simSetObjectStringParameter
See also the simSetObjectXXXParameter and simGetObjectXXXParameter functions
and their proximity sensor related parameters.
Vision sensor functionality
simGetObjectHandle
simIsHandleValid
simHandleVisionSensor
simReadVisionSensor
simResetVisionSensor
simCheckVisionSensor
simCheckVisionSensorEx
simGetVisionSensorDepthBuffer
simGetVisionSensorCharImage
simSetVisionSensorCharImage
simGetVisionSensorImage
simSetVisionSensorImage
simGetVisionSensorResolution
simGetVisionSensorFilter
simSetVisionSensorFilter
simAdjustView
simCreateVisionSensor
simGetExtensionString
simGetObjectInt32Parameter
simSetObjectInt32Parameter
simGetObjectFloatParameter
simSetObjectFloatParameter
simGetObjectStringParameter
simSetObjectStringParameter
See also the simSetObjectXXXParameter and simGetObjectXXXParameter functions
and their vision sensor related parameters.
Force sensor functionality
simGetObjectHandle
simIsHandleValid
simReadForceSensor
simBreakForceSensor
simCreateForceSensor
simGetObjectInt32Parameter
simSetObjectInt32Parameter
simGetObjectFloatParameter
simSetObjectFloatParameter
simGetObjectStringParameter
simSetObjectStringParameter
See also the simSetObjectXXXParameter and simGetObjectXXXParameter functions
and their force sensor related parameters.
Milling functionality
simGetObjectHandle
simIsHandleValid
simHandleMill
simResetMill
simApplyMilling
simResetMilling
simGetObjectInt32Parameter
simSetObjectInt32Parameter
simGetObjectFloatParameter
simSetObjectFloatParameter
simGetObjectStringParameter
simSetObjectStringParameter
See also the simSetObjectXXXParameter and simGetObjectXXXParameter functions
and their mill related parameters.
Joint object functionality
simGetObjectHandle
simIsHandleValid
simSetJointPosition
simGetJointPosition
simSetJointTargetPosition
simGetJointTargetPosition
simSetJointTargetVelocity
simGetJointTargetVelocity
simSetJointForce
simSetSphericalJointMatrix
simGetJointMatrix
simSetJointInterval
simGetJointInterval
simGetJointType
simCreateJoint
simSetJointMode
simGetJointMode
simGetJointForce
simRegisterJointCtrlCallback
simRMLPos
simRMLVel
simRMLMoveToJointPositions
simGetObjectInt32Parameter
simSetObjectInt32Parameter
simGetObjectFloatParameter
simSetObjectFloatParameter
simGetObjectStringParameter
simSetObjectStringParameter
simGetEngineFloatParameter
simGetEngineInt32Parameter
simGetEngineBoolParameter
simSetEngineFloatParameter
simSetEngineInt32Parameter
simSetEngineBoolParameter
See also the simSetObjectXXXParameter and simGetObjectXXXParameter functions
and their joint related parameters.
Path object functionality
simGetObjectHandle
simIsHandleValid
simSetPathPosition
simGetPathPosition
simGetPathLength
simGetOrientationOnPath
simGetPositionOnPath
simGetDataOnPath
simGetClosestPositionOnPath
simFollowPath
simMoveToObject
simCreatePath
simInsertPathCtrlPoints
simCutPathCtrlPoints
simGetObjectInt32Parameter
simSetObjectInt32Parameter
simGetObjectFloatParameter
simSetObjectFloatParameter
simGetObjectStringParameter
simSetObjectStringParameter
See also the simSetObjectXXXParameter and simGetObjectXXXParameter functions
and their path related parameters.
Shape object functionality
simGetObjectHandle
simIsHandleValid
simAddForce
simAddForceAndTorque
simGetVelocity
simGetShapeColor
simSetShapeColor
simGetShapeTextureId
simSetShapeTexture
simCreateMeshShape
simCreatePureShape
simCreateHeightfieldShape
simGetShapeMesh
simGetShapeGeomInfo
simGetShapeMassAndInertia
simSetShapeMassAndInertia
simComputeMassAndInertia
simGroupShapes
simUngroupShape
simImportShape
simConvexDecompose
simGetQHull
simGetDecimatedMesh
simReorientShapeBoundingBox
simSetShapeMaterial
simGetExtensionString
simGetObjectInt32Parameter
simSetObjectInt32Parameter
simGetObjectFloatParameter
simSetObjectFloatParameter
simGetObjectStringParameter
simSetObjectStringParameter
simGetEngineFloatParameter
simGetEngineInt32Parameter
simGetEngineBoolParameter
simSetEngineFloatParameter
simSetEngineInt32Parameter
simSetEngineBoolParameter
See also the simSetObjectXXXParameter and simGetObjectXXXParameter functions
and their shape related parameters.
Graph object functionality
simGetObjectHandle
simIsHandleValid
simHandleGraph
simResetGraph
simSetGraphUserData
simAdjustView
simGetObjectInt32Parameter
simSetObjectInt32Parameter
simGetObjectFloatParameter
simSetObjectFloatParameter
simGetObjectStringParameter
simSetObjectStringParameter
See also the simSetObjectXXXParameter and simGetObjectXXXParameter functions
and their graph related parameters.
Light object functionality
simGetObjectHandle
simIsHandleValid
simGetLightParameters
simSetLightParameters
simGetExtensionString
simGetObjectInt32Parameter
simSetObjectInt32Parameter
simGetObjectFloatParameter
simSetObjectFloatParameter
simGetObjectStringParameter
simSetObjectStringParameter
See also the simSetObjectXXXParameter and simGetObjectXXXParameter functions
and their light related parameters.
Camera object functionality
simGetObjectHandle
simIsHandleValid
simCameraFitToView
simAdjustView
simGetExtensionString
simGetObjectInt32Parameter
simSetObjectInt32Parameter
simGetObjectFloatParameter
simSetObjectFloatParameter
simGetObjectStringParameter
simSetObjectStringParameter
See also the simSetObjectXXXParameter and simGetObjectXXXParameter functions
and their camera related parameters.
Dummy object functionality
simCreateDummy
simGetObjectHandle
simIsHandleValid
simGetLinkDummy
simSetLinkDummy
simGetObjectInt32Parameter
simSetObjectInt32Parameter
simGetObjectFloatParameter
simSetObjectFloatParameter
simGetObjectStringParameter
simSetObjectStringParameter
See also the simSetObjectXXXParameter and simGetObjectXXXParameter functions
and their dummy related parameters.
Mirror object functionality
simGetObjectHandle
simIsHandleValid
simGetObjectInt32Parameter
simSetObjectInt32Parameter
simGetObjectFloatParameter
simSetObjectFloatParameter
simGetObjectStringParameter
simSetObjectStringParameter
See also the simSetObjectXXXParameter and simGetObjectXXXParameter functions
and their mirror related parameters.
Octree functionality
simGetObjectHandle
simIsHandleValid
simCreateOctree
simInsertVoxelsIntoOctree
simRemoveVoxelsFromOctree
simInsertObjectIntoOctree
simSubtractObjectFromOctree
simGetOctreeVoxels
simCheckOctreePointOccupancy
simGetObjectInt32Parameter
simSetObjectInt32Parameter
simGetObjectFloatParameter
simSetObjectFloatParameter
simGetObjectStringParameter
simSetObjectStringParameter
See also the simSetObjectXXXParameter and simGetObjectXXXParameter functions
and their octree related parameters.
Point cloud functionality
simGetObjectHandle
simIsHandleValid
simCreatePointCloud
simGetPointCloudOptions
simSetPointCloudOptions
simInsertPointsIntoPointCloud
simRemovePointsFromPointCloud
simSubtractObjectFromPointCloud
simIntersectPointsWithPointCloud
simInsertObjectIntoPointCloud
simGetPointCloudPoints
simGetObjectInt32Parameter
simSetObjectInt32Parameter
simGetObjectFloatParameter
simSetObjectFloatParameter
simGetObjectStringParameter
simSetObjectStringParameter
See also the simSetObjectXXXParameter and simGetObjectXXXParameter functions
and their point cloud related parameters.
Scene object functionality
simGetObjectHandle
simIsHandleValid
simRemoveObject
simRemoveModel
simGetObjectName
simSetObjectName
simGetObjects
simGetObjectsInTree
simGetObjectParent
simSetObjectParent
simGetObjectChild
simGetObjectMatrix
simSetObjectMatrix
simGetObjectPosition
simSetObjectPosition
simGetObjectOrientation
simSetObjectOrientation
simGetObjectQuaternion
simSetObjectQuaternion
simGetObjectType
simGetObjectUniqueIdentifier
simGetObjectConfiguration
simSetObjectConfiguration
simGetObjectSelection
simGetObjectSelectionSize
simGetObjectSizeFactor
simGetObjectSizeValues
simSetObjectSizeValues
simGetObjectLastSelection
simIsObjectInSelection
simAddObjectToSelection
simCopyPasteObjects
simScaleObject
simScaleObjects
simGetConfigurationTree
simSetConfigurationTree
simGetObjectProperty
simSetObjectProperty
simGetObjectSpecialProperty
simSetObjectSpecialProperty
simMoveToObject
simRMLMoveToPosition
simFollowPath
simRMLPos
simRMLVel
simGetObjectVelocity
simReadCustomDataBlock
simReadCustomDataBlockTags
simWriteCustomDataBlock
simSetReferencedHandles
simGetReferencedHandles
simGetObjectInt32Parameter
simSetObjectInt32Parameter
simGetObjectFloatParameter
simSetObjectFloatParameter
simGetObjectStringParameter
simSetObjectStringParameter
See also the simSetObjectXXXParameter and simGetObjectXXXParameter functions
and their scene object related parameters.
Collections
simGetCollectionHandle
simGetCollectionName
simSetCollectionName
simGetCollectionObjects
simCreateCollection
simAddObjectToCollection
simEmptyCollection
simRemoveCollection
Wireless communication functionality
simSendData
simReceiveData
Serial communication functionality
simSerialCheck
simSerialClose
simSerialOpen
simSerialRead
simSerialSend
Tube communication functionality
simTubeClose
simTubeOpen
simTubeRead
simTubeStatus
simTubeWrite
Drawing object functionality
simAddDrawingObject
simAddDrawingObjectItem
simRemoveDrawingObject
Banner functionality
simAddBanner
simRemoveBanner
Particle object functionality
simAddParticleObject
simAddParticleObjectItem
simRemoveParticleObject
Generic dialog functionality
simDisplayDialog
simGetDialogInput
simGetDialogResult
simEndDialog
Model functionality
simGetModelProperty
simSetModelProperty
simSaveModel
simLoadModel
Object selection functionality
simGetObjectSelection
simGetObjectSelectionSize
simGetObjectLastSelection
simIsObjectInSelection
simRemoveObjectFromSelection
simAddObjectToSelection
Object creation functionality
simCreateDummy
simCreateForceSensor
simCreateHeightfieldShape
simCreateJoint
simCreateMeshShape
simCreateProximitySensor
simCreatePureShape
simCreateVisionSensor
simCreatePath
simCreateOctree
simCreatePointCloud
simCreateTexture
simCreateIkGroup
simCreateIkElement
Script object functionality
simGetScriptHandle
simIsHandleValid
simAddScript
simRemoveScript
simGetScript
simGetScriptAssociatedWithObject
simGetCustomizationScriptAssociatedWithObject
simGetObjectAssociatedWithScript
simGetScriptAttribute
simSetScriptAttribute
simCallScriptFunction
simCallScriptFunctionEx
simHandleMainScript
simHandleChildScripts
simHandleGeneralCallbackScript
simLaunchThreadedChildScripts
simResetScript
simGetScriptName
simGetScriptProperty
simGetScriptText
simSetScriptText
simGetScriptExecutionCount
simIsScriptExecutionThreaded
simSetScriptRawBuffer
simGetScriptRawBuffer
simReleaseScriptRawBuffer
simSetScriptSimulationParameter
simGetScriptSimulationParameter
simReadCustomDataBlock
simReadCustomDataBlockTags
simWriteCustomDataBlock
simRegisterScriptCallbackFunction
simRegisterScriptVariable
simSetScriptVariable
Simulation functionality
simStartSimulation
simPauseSimulation
simStopSimulation
simAdvanceSimulationByOneStep
simGetSimulationState
simGetSimulationTime
simGetSimulationTimeStep
simGetSimulationPassesPerRenderingPass
simSetSimulationPassesPerRenderingPass
simGetRealTimeSimulation
simAdjustRealTimeTimer
simIsRealTimeSimulationStepNeeded
Thread related functionality
simSetThreadSwitchTiming
simGetThreadAutomaticSwitch
simSetThreadAutomaticSwitch
simSwitchThread
simSetThreadResumeLocation
simResumeThreads
simIsScriptExecutionThreaded
simSetThreadIsFree
simLaunchExecutable
simGetThreadId
Customization functionality
simLoadModule
simSendModuleMessage
simUnloadModule
simBroadcastMessage
simAddModuleMenuEntry
simSetModuleMenuItemState
simGetSimulatorMessage
simRegisterContactCallback
simRegisterJointCtrlCallback
simFileDialog
simMsgBox
simQuitSimulator
simGetThreadId
simEnableEventCallback
simReadCustomDataBlock
simReadCustomDataBlockTags
simWriteCustomDataBlock
simHandleGeneralCallbackScript
simSetScriptVariable
simGetExtensionString
simOpenTextEditor
simSetReferencedHandles
simGetReferencedHandles
Customizing Lua function
simRegisterScriptCallbackFunction
simRegisterScriptVariable
Lua boolean functions
simBoolAnd32
simBoolOr32
simBoolXor32
C-API only functions (not available in Lua)
simSendModuleMessage
simBroadcastMessage
simAddModuleMenuEntry
simSetModuleMenuItemState
simGetMainWindow
simRunSimulator
simCreateBuffer
simReleaseBuffer
simAddScript
simGetScript
simHandleMainScript
simHandleGeneralCallbackScript
simResetScript
simGetScriptProperty
simAssociateScriptWithObject
simSetScriptText
simSetScriptRawBuffer
simGetScriptRawBuffer
simRegisterScriptCallbackFunction
simRegisterScriptVariable
simCloseScene
simDoesFileExist
simAdvanceSimulationByOneStep
simGetSimulationPassesPerRenderingPass
simAdjustRealTimeTimer
simIsRealTimeSimulationStepNeeded
simTransformVector
simRegisterContactCallback
simRegisterJointCtrlCallback
simEnableEventCallback
simLockResources
simUnlockResources
simSetScriptVariable
Lua-API only functions (not available in C/C++)
simOpenModule
simHandleModule
simCloseModule
simBoolAnd32
simBoolOr32
simBoolXor32
simGetScriptExecutionCount
simIsScriptExecutionThreaded
simHandleChildScripts
simLaunchThreadedChildScripts
simMultiplyVector
simSetThreadSwitchTiming
simWaitForSignal
simMoveToObject
simFollowPath
simPackUInt8Table
simPackDoubleTable
simPackFloatTable
simPackInt32Table
simPackUInt32Table
simPackUInt16Table
simUnpackUInt8Table
simUnpackDoubleTable
simUnpackFloatTable
simUnpackInt32Table
simUnpackUInt32Table
simUnpackUInt16Table
simTransformBuffer
simWait
simLaunchExecutable
Matrix operations & transformations
simBuildIdentityMatrix
simBuildMatrix
simBuildMatrixQ
simCopyMatrix
simGetEulerAnglesFromMatrix
simGetQuaternionFromMatrix
simMultiplyMatrices
simInterpolateMatrices
simInvertMatrix
simGetObjectMatrix
simSetObjectMatrix
simGetObjectPosition
simSetObjectPosition
simGetObjectOrientation
simSetObjectOrientation
simGetObjectQuaternion
simSetObjectQuaternion
simSetSphericalJointMatrix
simGetJointMatrix
simMultiplyVector
simTransformVector
simGetRotationAxis
simRotateAroundAxis
simGetObjectVelocity
simReorientShapeBoundingBox
Messaging commands
simDisplayDialog
simGetDialogInput
simGetDialogResult
simEndDialog
simSetLastError
simAddStatusbarMessage
simLoadModule
simSendModuleMessage
simUnloadModule
simBroadcastMessage
simGetSimulatorMessage
simSetScriptRawBuffer
simGetScriptRawBuffer
simReleaseScriptRawBuffer
simSetScriptSimulationParameter
simGetScriptSimulationParameter
simRegisterScriptCallbackFunction
simRegisterScriptVariable
simRegisterJointCtrlCallback
simSendData
simReceiveData
simSerialCheck
simSerialClose
simSerialOpen
simSerialRead
simSerialSend
simTubeClose
simTubeOpen
simTubeRead
simTubeStatus
simTubeWrite
simSetIntegerSignal
simGetIntegerSignal
simClearIntegerSignal
simSetFloatSignal
simGetFloatSignal
simClearFloatSignal
simSetStringSignal
simGetStringSignal
simClearStringSignal
simGetSignalName
simWaitForSignal
simAuxiliaryConsoleClose
simAuxiliaryConsoleOpen
simAuxiliaryConsolePrint
simRegisterContactCallback
simPersistentDataRead
simPersistentDataWrite
simEnableEventCallback
simHandleGeneralCallbackScript
simCallScriptFunction
simCallScriptFunctionEx
simSetScriptVariable
Script simulation parameter commands
simSetScriptSimulationParameter
simGetScriptSimulationParameter
Signals
simSetIntegerSignal
simGetIntegerSignal
simClearIntegerSignal
simSetFloatSignal
simGetFloatSignal
simClearFloatSignal
simSetStringSignal
simGetStringSignal
simClearStringSignal
simGetSignalName
simWaitForSignal
Persistent Data
simPersistentDataRead
simPersistentDataWrite
Custom data blocks
simReadCustomDataBlock
simReadCustomDataBlockTags
simWriteCustomDataBlock
simPackUInt8Table
simPackDoubleTable
simPackFloatTable
simPackInt32Table
simPackUInt32Table
simPackUInt16Table
simPackTable
simUnpackUInt8Table
simUnpackDoubleTable
simUnpackFloatTable
simUnpackInt32Table
simUnpackUInt32Table
simUnpackUInt16Table
simUnpackTable
simTransformBuffer
simSetReferencedHandles
simGetReferencedHandles
Textures
simGetTextureId
simGetShapeTextureId
simReadTexture
simSaveImage
simLoadImage
simGetScaledImage
simTransformImage
simWriteTexture
simCreateTexture
simSetShapeTexture
Blocking functions (only available from threaded child scripts)
simWait
simWaitForSignal
simRMLMoveToJointPositions
simRMLMoveToPosition
simMoveToObject
simFollowPath
simDisplayDialog (when used in modal mode)
simSerialRead (when used in blocking operation)
simTubeRead (when used in blocking operation)
Auxiliary console functions
simAuxiliaryConsoleClose
simAuxiliaryConsoleOpen
simAuxiliaryConsolePrint
simAuxiliaryConsoleShow
Import / Export functions
simImportShape
simImportMesh
simExportMesh
simExportIk
simCreateTexture
simSaveImage
Pages and views
simFloatingViewAdd
simFloatingViewRemove
simAdjustView
simCameraFitToView
Simulator parameter retrieval
simGetArrayParameter
simSetArrayParameter
simGetBoolParameter
simSetBoolParameter
simGetInt32Parameter
simSetInt32Parameter
simGetFloatParameter
simSetFloatParameter
simGetStringParameter
simSetStringParameter
simGetUInt64Parameter
Reflexxes Motion Library type II or IV
simRMLMoveToJointPositions
simRMLMoveToPosition
simRMLPos
simRMLVel
simRMLStep
simRMLRemove
Ghost objects
simAddGhost
simModifyGhost
Packing / unpacking
simPackUInt8Table
simPackDoubleTable
simPackFloatTable
simPackInt32Table
simPackUInt32Table
simPackUInt16Table
simPackTable
simUnpackUInt8Table
simUnpackDoubleTable
simUnpackFloatTable
simUnpackInt32Table
simUnpackUInt32Table
simUnpackUInt16Table
simUnpackTable
simTransformBuffer
Stack functionality
simCreateStack
simReleaseStack
simCopyStack
simPushNullOntoStack
simPushBoolOntoStack
simPushInt32OntoStack
simPushFloatOntoStack
simPushDoubleOntoStack
simPushStringOntoStack
simPushUInt8TableOntoStack
simPushInt32TableOntoStack
simPushFloatTableOntoStack
simPushDoubleTableOntoStack
simPushTableOntoStack
simInsertDataIntoStackTable
simGetStackSize
simPopStackItem
simMoveStackItemToTop
simIsStackValueNull
simGetStackBoolValue
simGetStackInt32Value
simGetStackFloatValue
simGetStackDoubleValue
simGetStackStringValue
simGetStackTableInfo
simGetStackUInt8Table
simGetStackInt32Table
simGetStackFloatTable
simGetStackDoubleTable
simUnfoldStackTable
simDebugStack
simPackTable
simUnpackTable
Physics engine properties
simGetEngineFloatParameter
simGetEngineInt32Parameter
simGetEngineBoolParameter
simSetEngineFloatParameter
simSetEngineInt32Parameter
simSetEngineBoolParameter
Other commands
simAnnounceSceneContentChange
simGetNavigationMode
simSetNavigationMode
simGetPage
simSetPage
simDisplayDialog
simGetDialogInput
simGetDialogResult
simEndDialog
simGetArrayParameter
simSetArrayParameter
simGetBoolParameter
simSetBoolParameter
simGetInt32Parameter
simSetInt32Parameter
simGetUInt64Parameter
simGetFloatParameter
simSetFloatParameter
simGetStringParameter
simSetStringParameter
simGetLastError
simSetLastError
simGetCollectionName
simSetCollectionName
simRemoveCollection
simGetModuleName
simGetNameSuffix
simSetNameSuffix
simGetNavigationMode
simGetSystemTime
simGetSystemTimeInMs
simAddStatusbarMessage
simRefreshDialogs
simSetThreadSwitchTiming
simSwitchThread
simSetThreadIsFree
simSetThreadResumeLocation
simGetExplicitHandling
simSetExplicitHandling
simLaunchExecutable
simFileDialog
simMsgBox
simQuitSimulator
simGetThreadId
simEnableEventCallback
simLockResources
simUnlockResources
simGetExtensionString
simOpenTextEditor
Following are additional API functions, only available from the C/C++ interface, that extend functionality and allow faster data access. They however do not perform input data checking, so use them wisely. Refer to the source code for details.
_simAddForceSensorCumulativeForcesAndTorques
_simAddJointCumulativeForcesOrTorques
_simClearAdditionalForceAndTorque
_simDisableDynamicTreeForManipulation
_simDoEntitiesCollide
_simGetAdditionalForceAndTorque
_simGetAllGeometrics
_simGetBulletCollisionMargin
_simGetBulletRestitution
_simGetBulletStickyContact
_simGetContactCallback
_simGetContactCallbackCount
_simGetCumulativeMeshes
_simGetDamping
_simGetDistanceBetweenEntitiesIfSmaller
_simGetDummyLinkType
_simGetDynamicCollisionMask
_simGetDynamicForceSensorLocalTransformationPart2
_simGetDynamicMotorMaxForce
_simGetDynamicMotorTargetPosition
_simGetDynamicMotorTargetVelocity
_simGetDynamicMotorUpperLimitVelocity
_simGetDynamicsFullRefreshFlag
_simGetFriction
_simGetGeometricCount
_simGetGeomProxyDynamicsFullRefreshFlag
_simGetGeomProxyFromShape
_simGetGeomWrapFromGeomProxy
_simGetGravity
_simGetHeightfieldData
_simGetInitialDynamicAngVelocity
_simGetInitialDynamicVelocity
_simGetJointBulletParameters
_simGetJointMode
_simGetJointOdeParameters
_simGetJointPosition
_simGetJointPositionInterval
_simGetJointType
_simGetLastParentForLocalGlobalCollidable
_simGetLocalInertiaFrame
_simGetMass
_simGetMotorPid
_simGetObject
_simGetObjectChildren
_simGetObjectCumulativeTransformation
_simGetObjectFromIndex
_simGetObjectID
_simGetObjectListSize
_simGetObjectLocalTransformation
_simGetObjectType
_simGetOdeHeightfieldHeight
_simGetOdeMaxContactFrictionCFMandERP
_simGetParentFollowsDynamic
_simGetParentObject
_simGetPrincipalMomentOfInertia
_simGetPurePrimitiveSizes
_simGetPurePrimitiveType
_simGetShapeIsStaticAndNotRespondableButDynamicTag
_simGetStartSleeping
_simGetTimeDiffInMs
_simGetTreeDynamicProperty
_simGetVerticesLocalFrame
_simGetWasPutToSleepOnce
_simIsDynamicMotorEnabled
_simIsDynamicMotorPositionCtrlEnabled
_simIsDynamicMotorTorqueModulationEnabled
_simIsForceSensorBroken
_simIsGeomWrapGeometric
_simIsJointInHybridOperation
_simIsShapeDynamicallyRespondable
_simIsShapeDynamicallyStatic
_simMakeDynamicAnnouncement
_simSetDynamicForceSensorLocalTransformationPart2
_simSetDynamicForceSensorLocalTransformationPart2IsValid
_simSetDynamicJointLocalTransformationPart2
_simSetDynamicJointLocalTransformationPart2IsValid
_simSetDynamicMotorPositionControlTargetPosition
_simSetDynamicMotorReflectedPositionFromDynamicEngine
_simSetDynamicObjectFlagForVisualization
_simSetDynamicsFullRefreshFlag
_simSetDynamicSimulationIconCode
_simSetGeomProxyDynamicsFullRefreshFlag
_simSetInitialDynamicAngVelocity
_simSetInitialDynamicVelocity
_simSetJointPosition
_simSetJointSphericalTransformation
_simSetObjectCumulativeTransformation
_simSetObjectLocalTransformation
_simSetOdeHeightfieldAuxData
_simSetShapeDynamicVelocity
_simSetShapeIsStaticAndNotRespondableButDynamicTag
_simGetIkGroupObject
_simMpHandleIkGroupObject
_simGetPureHollowScaling
_simGetVortexParameters
_simGetJointCallbackCallOrder
_simGetNewtonParameters
Recommended topics
Regular API function list (alphabetical order)
API constants
Object parameter IDs
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