Object Parameter IDs

Refer to the API functions simGetObjectIntParameter, simSetObjectIntParameter, simGetObjectFloatParameter, simSetObjectFloatParameter, simGetObjectStringParameter and simSetObjectStringParameter for details on following values:

Scene objects

10: int parameter : object visibility layer
11: float parameter (can only be read) : object absolute x velocity. This is a calculated value. Refer also to simGetObjectVelocity.
12: float parameter (can only be read) : object absolute y velocity. This is a calculated value. Refer also to simGetObjectVelocity.
13: float parameter (can only be read) : object absolute z velocity. This is a calculated value. Refer also to simGetObjectVelocity.
14: float parameter (can only be read) : object absolute rotational velocity. This is a calculated value. Refer also to simGetObjectVelocity.
15: float parameter (can only be read) : object bounding box, min. x position (relative to the object reference frame)
16: float parameter (can only be read) : object bounding box, min. y position (relative to the object reference frame)
17: float parameter (can only be read) : object bounding box, min. z position (relative to the object reference frame)
18: float parameter (can only be read) : object bounding box, max. x position (relative to the object reference frame)
19: float parameter (can only be read) : object bounding box, max. y position (relative to the object reference frame)
20: float parameter (can only be read) : object bounding box, max. z position (relative to the object reference frame)
21: float parameter (can only be read) : model bounding box, min. x position (relative to the object reference frame). Object needs to be flagged as model base.
22: float parameter (can only be read) : model bounding box, min. y position (relative to the object reference frame). Object needs to be flagged as model base.
23: float parameter (can only be read) : model bounding box, min. z position (relative to the object reference frame). Object needs to be flagged as model base.
24: float parameter (can only be read) : model bounding box, max. x position (relative to the object reference frame). Object needs to be flagged as model base.
25: float parameter (can only be read) : model bounding box, max. y position (relative to the object reference frame). Object needs to be flagged as model base.
26: float parameter (can only be read) : model bounding box, max. z position (relative to the object reference frame). Object needs to be flagged as model base.

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Vision sensors

1000: float parameter : near clipping plane
1001: float parameter : far clipping plane
1002: int parameter : resolution x
1003: int parameter : resolution y
1004: float parameter : perspective projection angle
1005: float parameter : orthographic projection size

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Joints

2000: int parameter : dynamic motor enable state (0 or !=0)
2001: int parameter : dynamic motor position control enable state (0 or !=0)
2002: float parameter : dynamic motor position control P parameter
2003: float parameter : dynamic motor position control I parameter
2004: float parameter : dynamic motor position control D parameter
2005: float parameter (can only be read) : joint transformation, position X
2006: float parameter (can only be read) : joint transformation, position Y
2007: float parameter (can only be read) : joint transformation, position Z
2008: float parameter (can only be read) : joint transformation, quaternion X
2009: float parameter (can only be read) : joint transformation, quaternion Y
2010: float parameter (can only be read) : joint transformation, quaternion Z
2011: float parameter (can only be read) : joint transformation, quaternion W
2012: float parameter (can only be read) : joint velocity. This is a calculated value.
2013: float parameter (can only be written) : spherical joint quaternion (X part). Value is buffered (quaternion will only be written when float parameter 2016 is written)
2014: float parameter (can only be written) : spherical joint quaternion (Y part). Value is buffered (quaternion will only be written when float parameter 2016 is written)
2015: float parameter (can only be written) : spherical joint quaternion (Z part). Value is buffered (quaternion will only be written when float parameter 2016 is written)
2016: float parameter (can only be written) : spherical joint quaternion (W part). Writes a quaternion using also buffered values (see parameters 2013-2015)
2017: float parameter : joint upper velocity limit. May only have an effect after simulation restart, or after resetting the joint with simResetDynamicObject

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Shapes

3000: float parameter : x-component of the initial dynamic linear velocity of a dynamically enabled shape (static or non-static). The shape might have to be reset with simResetDynamicObject
3001: float parameter : y-component of the initial dynamic linear velocity of a dynamically enabled shape (static or non-static). The shape might have to be reset with simResetDynamicObject
3002: float parameter : z-component of the initial dynamic linear velocity of a dynamically enabled shape (static or non-static). The shape might have to be reset with simResetDynamicObject
3003: int parameter : static state (0 or !=0). Use with care when setting this parameter
3004: int parameter : respondable state (0 or !=0). Use with care when setting this parameter during simulation (the shape might have to be reset with simResetDynamicObject)
3005: float parameter : mass of the shape. Use with care when setting this parameter during simulation (the shape might have to be reset with simResetDynamicObject)
3006: float parameter : texture x-coordinate. Has no effect when imported texture coordinates are used
3007: float parameter : texture y-coordinate. Has no effect when imported texture coordinates are used
3008: float parameter : texture z-coordinate. Has no effect when imported texture coordinates are used
3009: float parameter : texture alpha-coordinate (Euler angle). Has no effect when imported texture coordinates are used
3010: float parameter : texture beta-coordinate (Euler angle). Has no effect when imported texture coordinates are used
3011: float parameter : texture gamma-coordinate (Euler angle). Has no effect when imported texture coordinates are used
3012: float parameter : texture scaling along x. Has no effect when imported texture coordinates are used
3013: float parameter : texture scaling along y. Has no effect when imported texture coordinates are used
3014: int parameter : culling state (0 or !=0)
3015: int parameter : wireframe state (0 or !=0)
3016: int parameter : shape grouping state (0 if shape is a simple shape, !=0 if shape is a grouped shape)
3017: int parameter : shape convex state (!=0 if shape mesh(es) is/are convex). This is just a flag. Very careful when setting this value (make sure the mesh(es) is/are closed and perfectly convex). The flag is used to select special and faster collision calculation routines for the physics engines. See also next item
3018: int parameter : triggers a convectivity check for the given shape. Can only be set (parameter can be any value). The shape's convex state will be set. Normally not needed because done automatically.
3019: int parameter : respondable mask. When setting this parameter during simulation (the shape might have to be reset with simResetDynamicObject)
3020: float parameter : alpha-component of the initial dynamic angular velocity of a dynamically enabled shape (static or non-static). The shape might have to be reset with simResetDynamicObject
3021: float parameter : beta-component of the initial dynamic angular velocity of a dynamically enabled shape (static or non-static). The shape might have to be reset with simResetDynamicObject
3022: float parameter : gamma-component of the initial dynamic angular velocity of a dynamically enabled shape (static or non-static). The shape might have to be reset with simResetDynamicObject

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Proximity sensors


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Force sensors


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Paths


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Graphs


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Lights


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Cameras


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Dummies


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Mills


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Mirrors

12000: float parameter : width of the mirror
12001: float parameter : height of the mirror
12002: float parameter : reflectance of the mirror
12003: int parameter : enable state of the mirror

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