vrep.py 文件源码

def simxReadProximitySensor(clientID, sensorHandle, operationMode):
    '''
    Please have a look at the function description/documentation in the V-REP user manual
    '''

    detectionState = ct.c_ubyte()
    detectedObjectHandle = ct.c_int()
    detectedPoint  = (ct.c_float*3)()
    detectedSurfaceNormalVector = (ct.c_float*3)()
    ret = c_ReadProximitySensor(clientID, sensorHandle, ct.byref(detectionState), detectedPoint, ct.byref(detectedObjectHandle), detectedSurfaceNormalVector, operationMode)
    arr1 = []
    for i in range(3):
        arr1.append(detectedPoint[i])
    arr2 = []
    for i in range(3):
        arr2.append(detectedSurfaceNormalVector[i])
    return ret, bool(detectionState.value!=0), arr1, detectedObjectHandle.value, arr2