Coppelia Geometric Routines
Lua API List (by category)

Mesh creation/destruction/manipulation/info

simGeom.createMesh
simGeom.destroyMesh
simGeom.copyMesh
simGeom.scaleMesh
simGeom.getMeshSerializationData
simGeom.createMeshFromSerializationData

OC-tree creation/destruction/manipulation/info

simGeom.createOctreeFromColorPoints
simGeom.createOctreeFromMesh
simGeom.createOctreeFromOctree
simGeom.createOctreeFromPoints
simGeom.destroyOctree
simGeom.copyOctree
simGeom.scaleOctree
simGeom.getOctreeSerializationData
simGeom.createOctreeFromSerializationData
simGeom.getOctreeVoxels

Point-cloud creation/destruction/manipulation/info

simGeom.createPtcloudFromColorPoints
simGeom.createPtcloudFromPoints
simGeom.destroyPtcloud
simGeom.copyPtcloud
simGeom.scalePtcloud
simGeom.getPtcloudSerializationData
simGeom.createPtcloudFromSerializationData
simGeom.getPtcloudPoints

Mesh collision detection

simGeom.getMeshMeshCollision
simGeom.getMeshOctreeCollision
simGeom.getMeshTriangleCollision
simGeom.getMeshSegmentCollision

OC-tree collision detection

simGeom.getMeshOctreeCollision
simGeom.getOctreeOctreeCollision
simGeom.getOctreePtcloudCollision
simGeom.getOctreeTriangleCollision
simGeom.getOctreeSegmentCollision
simGeom.getOctreePointCollision

Point-cloud collision detection

simGeom.getOctreePtcloudCollision

Mesh minimum distance calculation

simGeom.getMeshMeshDistance
simGeom.getMeshOctreeDistance
simGeom.getMeshPtcloudDistance
simGeom.getMeshTriangleDistance
simGeom.getMeshSegmentDistance
simGeom.getMeshPointDistance

OC-tree minimum distance calculation

simGeom.getMeshOctreeDistance
simGeom.getOctreeOctreeDistance
simGeom.getOctreePtcloudDistance
simGeom.getOctreeTriangleDistance
simGeom.getOctreeSegmentDistance
simGeom.getOctreePointDistance

Point-cloud minimum distance calculation

simGeom.getOctreePtcloudDistance
simGeom.getMeshPtcloudDistance
simGeom.getPtcloudPtcloudDistance
simGeom.getPtcloudTriangleDistance
simGeom.getPtcloudSegmentDistance
simGeom.getPtcloudPointDistance

Primitives minimum distance calculation

simGeom.getBoxBoxDistance
simGeom.getBoxTriangleDistance
simGeom.getBoxSegmentDistance
simGeom.getBoxPointDistance
simGeom.getTriangleTriangleDistance
simGeom.getTriangleSegmentDistance
simGeom.getTrianglePointDistance
simGeom.getSegmentSegmentDistance
simGeom.getSegmentPointDistance

Other API functions

simGeom.getTransformedPoints