simCreateForceSensor

Creates a force sensor.

C++ synopsis

int simCreateForceSensor(int options, const int* intParams, const double* floatParams, const double* reserved)

Arguments

• options: bit-coded options:
  • bit 0 set (1): force threshold enabled
  • bit 1 set (2): torque threshold enabled
• intParams (input): 5 integer parameters:
  • intParams[0]: filter type (0=average, 1=median)
  • intParams[1]: value count the filter operates on
  • intParams[2]: number of consecutive threshold violation for the sensor to break
  • intParams[3]: reserved. Set to 0
  • intParams[4]: reserved. Set to 0
• floatParams (input): 5 floating point parameters:
  • floatParams[0]: sensor size
  • floatParams[1]: force threshold value
  • floatParams[2]: torque threshold value
  • floatParams[3]: reserved. Set to 0.0
  • floatParams[4]: reserved. Set to 0.0
• reserved: set to nullptr

Return

• -1 if operation was not successful, otherwise the handle of the force sensor