def get_windowed_size(self) -> Sequence[int]:
"""Get the size of windowed rendering.
:return: The (x, y) resolution of the window. 0 for full-screen.
"""
size_x = sim.simGetObjectInt32Parameter(
self._handle, sim.sim_visionintparam_windowed_size_x)
size_y = sim.simGetObjectInt32Parameter(
self._handle, sim.sim_visionintparam_windowed_size_y)
return size_x, size_y
def is_dynamic(self) -> bool:
"""Whether the shape is dynamic or not.
:return: If the shape is dynamic.
"""
return not sim.simGetObjectInt32Parameter(self._handle,
sim.sim_shapeintparam_static)
def is_respondable(self) -> bool:
"""Whether the shape is respondable or not.
:return: If the shape is respondable.
"""
return sim.simGetObjectInt32Parameter(
self._handle, sim.sim_shapeintparam_respondable)
def is_motor_enabled(self) -> bool:
"""Gets whether the motor is enable.
:return: True if the motor is enabled.
"""
return sim.simGetObjectInt32Parameter(
self._handle, sim.sim_jointintparam_motor_enabled)
def is_control_loop_enabled(self) -> bool:
"""Gets whether the control loop is enable.
:return: True if the control loop is enabled.
"""
return sim.simGetObjectInt32Parameter(
self._handle, sim.sim_jointintparam_ctrl_enabled)
def get_entity_to_render(self) -> None:
""" Get the entity to render to the Sensor, this can be an object or more usefully a collection.
-1 if all objects in scene are rendered.
:return: Handle of the entity to render
"""
return sim.simGetObjectInt32Parameter(
self._handle, sim.sim_visionintparam_entity_to_render)
def get_render_mode(self) -> RenderMode:
""" Retrieves the Sensor's rendering mode
:return: RenderMode for the current rendering mode.
"""
render_mode = sim.simGetObjectInt32Parameter(
self._handle, sim.sim_visionintparam_render_mode)
return RenderMode(render_mode)
def get_perspective_mode(self) -> PerspectiveMode:
""" Retreive the Sensor's perspective mode.
:return: The current PerspectiveMode.
"""
perspective_mode = sim.simGetObjectInt32Parameter(
self._handle, sim.sim_visionintparam_perspective_mode)
return PerspectiveMode(perspective_mode)
def is_motor_locked_at_zero_velocity(self) -> bool:
"""Gets if the motor is locked when target velocity is zero.
When enabled in velocity mode and its target velocity is zero, then the
joint is locked in place.
:return: If the motor will be locked at zero velocity.
"""
return sim.simGetObjectInt32Parameter(
self._handle, sim.sim_jointintparam_velocity_lock)
def get_intensity_properties(self):
""" Gets light intensity properties.
:return: The light intensity properties cast_shadows, spot_exponent, spot_cutoff, const_atten_factor,
linear_atten_factor, quad_atten_factor
"""
cast_shadows = sim.simGetObjectInt32Parameter(
self._handle, sim.sim_lightintparam_pov_casts_shadows)
spot_exponent = sim.simGetObjectFloatParameter(
self._handle, sim.sim_lightfloatparam_spot_exponent)
spot_cutoff = sim.simGetObjectFloatParameter(
self._handle, sim.sim_lightfloatparam_spot_cutoff)
const_atten_factor = sim.simGetObjectFloatParameter(
self._handle, sim.sim_lightfloatparam_const_attenuation)
linear_atten_factor = sim.simGetObjectFloatParameter(
self._handle, sim.sim_lightfloatparam_lin_attenuation)
quad_atten_factor = sim.simGetObjectFloatParameter(
self._handle, sim.sim_lightfloatparam_quad_attenuation)
return bool(cast_shadows), spot_exponent, spot_cutoff, const_atten_factor, linear_atten_factor,\
quad_atten_factor
