CoppeliaSim offers a very powerful and efficient way to simulate proximity sensors. The user can model almost any type of proximity sensor, from ultrasonic to infrared, and so on. The scene objects that allow for this functionality are proximity sensors (which are different from vision sensors), which can detect detectable entities. Following figures illustrates simulations using proximity sensors:
[Mobile robots using proximity sensors]
Proximity sensors are added to the scene with [Add > Proximity sensor].
The proximity sensor detection routines used by the proximity sensors are also available as stand-alone routines via the Coppelia geometric routines.