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