Regular API function

simCreateProximitySensor / sim.createProximitySensor

Description Creates a proximity sensor.
C synopsis simInt simCreateProximitySensor(simInt sensorType,simInt subType,simInt options,const simInt* intParams,const simFloat* floatParams,const simFloat* color)
C parameters
sensorType: the desired proximity sensor type (e.g. sim_proximitysensor_cone_subtype)
subType: the desired proximity sensor sub-type (e.g. sim_objectspecialproperty_detectable_ultrasonic)
options: bit-coded options:
bit 0 set (1): the sensor will be explicitely handled
bit 1 set (2): the detection volumes are not shown when detecting something
bit 2 set (4): the detection volumes are not shown when not detecting anything
bit 3 set (8): front faces are not detected
bit 4 set (16): back faces are not detected
bit 5 set (32): fast detection (i.e. not exact detection)
bit 6 set (64): the normal of the detected surface with the detection ray will have to lie below a specified threshold angle
bit 8 set (256): smallest distance threshold will be active
bit 9 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
color: pointer to 4x4x3 values representing the various colors of the sensor ((passive, active, ray, closest distance) x (ambient_diffuse rgb, 3 reserved values (set to zer0), specular rgb and emission rgb)). Can be nullptr for default values
C return value
-1 if operation was not successful, otherwise the handle of the force sensor
Lua synopsis int sensorHandle=sim.createProximitySensor(int sensorType,int subType,int options,table[8] intParams,table[15] floatParams,table[48] color=nil)
Lua parameters
Similar to the C-function counterpart
Lua return values
Similar to the C-function counterpart