v_repLib.h

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// This file is part of V-REP, the Virtual Robot Experimentation Platform.
// 
// Copyright 2006-2016 Coppelia Robotics GmbH. All rights reserved. 
// marc@coppeliarobotics.com
// www.coppeliarobotics.com
// 
// V-REP is dual-licensed, under the terms of EITHER (at your option):
//   1. V-REP commercial license (contact us for details)
//   2. GNU GPL (see below)
// 
// GNU GPL license:
// -------------------------------------------------------------------
// V-REP is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
// 
// V-REP IS DISTRIBUTED "AS IS", WITHOUT ANY EXPRESS OR IMPLIED
// WARRANTY. THE USER WILL USE IT AT HIS/HER OWN RISK. THE ORIGINAL
// AUTHORS AND COPPELIA ROBOTICS GMBH WILL NOT BE LIABLE FOR DATA LOSS,
// DAMAGES, LOSS OF PROFITS OR ANY OTHER KIND OF LOSS WHILE USING OR
// MISUSING THIS SOFTWARE.
// 
// See the GNU General Public License for more details.
// 
// You should have received a copy of the GNU General Public License
// along with V-REP.  If not, see <http://www.gnu.org/licenses/>.
// -------------------------------------------------------------------
//
// This file was automatically created for V-REP release V3.3.2 on August 29th 2016

// Use this header to dynamically load and bind v_rep.dll and its functions (call loadVrepLibrary and unloadVrepLibrary)

#if !defined(V_REPLIB_INCLUDED_)
#define V_REPLIB_INCLUDED_

#include "v_repConst.h"
#include "v_repTypes.h"

#ifdef QT_FRAMEWORK
    #include <QLibrary>
    #define LIBRARY QLibrary*
    #define __cdecl
    #define FARPROC void*
#else
    #ifdef _WIN32
        #include <Windows.h>
        #define LIBRARY HINSTANCE
    #elif defined (__linux) || defined (__APPLE__)
        #define __cdecl
        #define FARPROC void*
        #define LIBRARY void*
    #endif
#endif // QT_FRAMEWORK

int getVrepProcAddresses(LIBRARY lib);
LIBRARY loadVrepLibrary(const char* pathAndFilename);
void unloadVrepLibrary(LIBRARY lib);
FARPROC _getProcAddress(LIBRARY lib,const char* funcName);

typedef simInt (__cdecl *ptrSimRunSimulator)(const simChar* applicationName,simInt options,simVoid(*initCallBack)(),simVoid(*loopCallBack)(),simVoid(*deinitCallBack)());
typedef simChar* (__cdecl *ptrSimGetSimulatorMessage)(simInt* messageID,simInt* auxiliaryData,simInt* returnedDataSize);
typedef simVoid* (__cdecl *ptrSimGetMainWindow)(simInt type);
typedef simChar* (__cdecl *ptrSimGetLastError)();
typedef simInt (__cdecl *ptrSimLoadModule)(const simChar* filenameAndPath,const simChar* pluginName);
typedef simInt (__cdecl *ptrSimUnloadModule)(simInt pluginhandle);
typedef simVoid* (__cdecl *ptrSimSendModuleMessage)(simInt message,simInt* auxiliaryData,simVoid* customData,simInt* replyData);
typedef simInt (__cdecl *ptrSimSetBooleanParameter)(simInt parameter,simBool boolState);
typedef simInt (__cdecl *ptrSimGetBooleanParameter)(simInt parameter);
typedef simInt (__cdecl *ptrSimSetBoolParameter)(simInt parameter,simBool boolState);
typedef simInt (__cdecl *ptrSimGetBoolParameter)(simInt parameter);
typedef simInt (__cdecl *ptrSimSetIntegerParameter)(simInt parameter,simInt intState);
typedef simInt (__cdecl *ptrSimGetIntegerParameter)(simInt parameter,simInt* intState);
typedef simInt (__cdecl *ptrSimSetInt32Parameter)(simInt parameter,simInt intState);
typedef simInt (__cdecl *ptrSimGetInt32Parameter)(simInt parameter,simInt* intState);
typedef simInt (__cdecl *ptrSimGetUInt64Parameter)(simInt parameter,simUInt64* intState);
typedef simInt (__cdecl *ptrSimSetFloatingParameter)(simInt parameter,simFloat floatState);
typedef simInt (__cdecl *ptrSimGetFloatingParameter)(simInt parameter,simFloat* floatState);
typedef simInt (__cdecl *ptrSimSetFloatParameter)(simInt parameter,simFloat floatState);
typedef simInt (__cdecl *ptrSimGetFloatParameter)(simInt parameter,simFloat* floatState);
typedef simInt (__cdecl *ptrSimSetStringParameter)(simInt parameter,const simChar* stringState);
typedef simChar* (__cdecl *ptrSimGetStringParameter)(simInt parameter);
typedef simInt (__cdecl *ptrSimGetObjectHandle)(const simChar* objectName);
typedef simInt (__cdecl *ptrSimRemoveObject)(simInt objectHandle);
typedef simInt (__cdecl *ptrSimRemoveModel)(simInt objectHandle);
typedef simChar* (__cdecl *ptrSimGetObjectName)(simInt objectHandle);
typedef simInt (__cdecl *ptrSimGetObjects)(simInt index,simInt objectType);
typedef simInt (__cdecl *ptrSimSetObjectName)(simInt objectHandle,const simChar* objectName);
typedef simInt (__cdecl *ptrSimGetCollectionHandle)(const simChar* collectionName);
typedef simInt (__cdecl *ptrSimRemoveCollection)(simInt collectionHandle);
typedef simInt (__cdecl *ptrSimEmptyCollection)(simInt collectionHandle);
typedef simChar* (__cdecl *ptrSimGetCollectionName)(simInt collectionHandle);
typedef simInt (__cdecl *ptrSimSetCollectionName)(simInt collectionHandle,const simChar* collectionName);
typedef simInt (__cdecl *ptrSimGetObjectMatrix)(simInt objectHandle,simInt relativeToObjectHandle,simFloat* matrix);
typedef simInt (__cdecl *ptrSimSetObjectMatrix)(simInt objectHandle,simInt relativeToObjectHandle,const simFloat* matrix);
typedef simInt (__cdecl *ptrSimGetObjectPosition)(simInt objectHandle,simInt relativeToObjectHandle,simFloat* position);
typedef simInt (__cdecl *ptrSimSetObjectPosition)(simInt objectHandle,simInt relativeToObjectHandle,const simFloat* position);
typedef simInt (__cdecl *ptrSimGetObjectOrientation)(simInt objectHandle,simInt relativeToObjectHandle,simFloat* eulerAngles);
typedef simInt (__cdecl *ptrSimSetObjectOrientation)(simInt objectHandle,simInt relativeToObjectHandle,const simFloat* eulerAngles);
typedef simInt (__cdecl *ptrSimGetJointPosition)(simInt objectHandle,simFloat* position);
typedef simInt (__cdecl *ptrSimSetJointPosition)(simInt objectHandle,simFloat position);
typedef simInt (__cdecl *ptrSimSetJointTargetPosition)(simInt objectHandle,simFloat targetPosition);
typedef simInt (__cdecl *ptrSimGetJointTargetPosition)(simInt objectHandle,simFloat* targetPosition);
typedef simInt (__cdecl *ptrSimSetJointForce)(simInt objectHandle,simFloat forceOrTorque);
typedef simInt (__cdecl *ptrSimGetPathPosition)(simInt objectHandle,simFloat* position);
typedef simInt (__cdecl *ptrSimSetPathPosition)(simInt objectHandle,simFloat position);
typedef simInt (__cdecl *ptrSimGetPathLength)(simInt objectHandle,simFloat* length);
typedef simInt (__cdecl *ptrSimGetJointMatrix)(simInt objectHandle,simFloat* matrix);
typedef simInt (__cdecl *ptrSimSetSphericalJointMatrix)(simInt objectHandle,const simFloat* matrix);
typedef simInt (__cdecl *ptrSimGetJointInterval)(simInt objectHandle,simBool* cyclic,simFloat* interval);
typedef simInt (__cdecl *ptrSimSetJointInterval)(simInt objectHandle,simBool cyclic,const simFloat* interval);
typedef simInt (__cdecl *ptrSimGetObjectParent)(simInt objectHandle);
typedef simInt (__cdecl *ptrSimGetObjectChild)(simInt objectHandle,simInt index);
typedef simInt (__cdecl *ptrSimSetObjectParent)(simInt objectHandle,simInt parentObjectHandle,simBool keepInPlace);
typedef simInt (__cdecl *ptrSimGetObjectType)(simInt objectHandle);
typedef simInt (__cdecl *ptrSimGetJointType)(simInt objectHandle);
typedef simInt (__cdecl *ptrSimBuildIdentityMatrix)(simFloat* matrix);
typedef simInt (__cdecl *ptrSimCopyMatrix)(const simFloat* matrixIn,simFloat* matrixOut);
typedef simInt (__cdecl *ptrSimBuildMatrix)(const simFloat* position,const simFloat* eulerAngles,simFloat* matrix);
typedef simInt (__cdecl *ptrSimGetEulerAnglesFromMatrix)(const simFloat* matrix,simFloat* eulerAngles);
typedef simInt (__cdecl *ptrSimInvertMatrix)(simFloat* matrix);
typedef simInt (__cdecl *ptrSimMultiplyMatrices)(const simFloat* matrixIn1,const simFloat* matrixIn2,simFloat* matrixOut);
typedef simInt (__cdecl *ptrSimInterpolateMatrices)(const simFloat* matrixIn1,const simFloat* matrixIn2,simFloat interpolFactor,simFloat* matrixOut);
typedef simInt (__cdecl *ptrSimTransformVector)(const simFloat* matrix,simFloat* vect);
typedef simInt (__cdecl *ptrSimReservedCommand)(simInt v,simInt w);
typedef simFloat (__cdecl *ptrSimGetSimulationTime)();
typedef simInt (__cdecl *ptrSimGetSimulationState)();
typedef simFloat (__cdecl *ptrSimGetSystemTime)();
typedef simInt (__cdecl *ptrSimGetSystemTimeInMilliseconds)();
typedef simUInt (__cdecl *ptrSimGetSystemTimeInMs)(simInt previousTime);
typedef simInt (__cdecl *ptrSimLoadScene)(const simChar* filename);
typedef simInt (__cdecl *ptrSimCloseScene)();
typedef simInt (__cdecl *ptrSimSaveScene)(const simChar* filename);
typedef simInt (__cdecl *ptrSimLoadModel)(const simChar* filename);
typedef simInt (__cdecl *ptrSimSaveModel)(int baseOfModelHandle,const simChar* filename);
typedef simInt (__cdecl *ptrSimLoadUI)(const simChar* filename,int maxCount,int* uiHandles);
typedef simInt (__cdecl *ptrSimSaveUI)(int count,const int* uiHandles,const simChar* filename);
typedef simInt (__cdecl *ptrSimAddStatusbarMessage)(const simChar* message);
typedef simInt (__cdecl *ptrSimAddModuleMenuEntry)(const simChar* entryLabel,simInt itemCount,simInt* itemHandles);
typedef simInt (__cdecl *ptrSimSetModuleMenuItemState)(simInt itemHandle,simInt state,const simChar* label);
typedef simInt (__cdecl *ptrSimDoesFileExist)(const simChar* filename);
typedef simInt (__cdecl *ptrSimIsObjectInSelection)(simInt objectHandle);
typedef simInt (__cdecl *ptrSimAddObjectToSelection)(simInt what,simInt objectHandle);
typedef simInt (__cdecl *ptrSimRemoveObjectFromSelection)(simInt what,simInt objectHandle);
typedef simInt (__cdecl *ptrSimGetObjectSelectionSize)();
typedef simInt (__cdecl *ptrSimGetObjectLastSelection)();
typedef simInt (__cdecl *ptrSimGetObjectSelection)(simInt* objectHandles);
typedef simInt (__cdecl *ptrSimHandleCollision)(simInt collisionObjectHandle);
typedef simInt (__cdecl *ptrSimReadCollision)(simInt collisionObjectHandle);
typedef simInt (__cdecl *ptrSimHandleDistance)(simInt distanceObjectHandle,simFloat* smallestDistance);
typedef simInt (__cdecl *ptrSimReadDistance)(simInt distanceObjectHandle,simFloat* smallestDistance);
typedef simInt (__cdecl *ptrSimHandleProximitySensor)(simInt sensorHandle,simFloat* detectedPoint,simInt* detectedObjectHandle,simFloat* normalVector);
typedef simInt (__cdecl *ptrSimReadProximitySensor)(simInt sensorHandle,simFloat* detectedPoint,simInt* detectedObjectHandle,simFloat* normalVector);
typedef simInt (__cdecl *ptrSimHandleMill)(simInt millHandle,simFloat* removedSurfaceAndVolume);
typedef simInt (__cdecl *ptrSimHandleIkGroup)(simInt ikGroupHandle);
typedef simInt (__cdecl *ptrSimCheckIkGroup)(simInt ikGroupHandle,simInt jointCnt,const simInt* jointHandles,simFloat* jointValues,const simInt* jointOptions);
typedef simInt (__cdecl *ptrSimHandleDynamics)(simFloat deltaTime);
typedef simInt (__cdecl *ptrSimGetMechanismHandle)(const simChar* mechanismName);
typedef simInt (__cdecl *ptrSimHandleMechanism)(simInt mechanismHandle);
typedef simInt (__cdecl *ptrSimGetScriptHandle)(const simChar* scriptName);
typedef simInt (__cdecl *ptrSimSetScriptText)(simInt scriptHandle,const simChar* scriptText);
typedef simChar* (__cdecl *ptrSimGetScriptText)(simInt scriptHandle);
typedef simInt (__cdecl *ptrSimGetScriptProperty)(simInt scriptHandle,simInt* scriptProperty,simInt* associatedObjectHandle);
typedef simInt (__cdecl *ptrSimAssociateScriptWithObject)(simInt scriptHandle,simInt associatedObjectHandle);
typedef simInt (__cdecl *ptrSimGetScript)(simInt index);
typedef simInt (__cdecl *ptrSimGetScriptAssociatedWithObject)(simInt objectHandle);
typedef simInt (__cdecl *ptrSimGetCustomizationScriptAssociatedWithObject)(simInt objectHandle);
typedef simInt (__cdecl *ptrSimGetObjectAssociatedWithScript)(simInt scriptHandle);
typedef simChar* (__cdecl *ptrSimGetScriptName)(simInt scriptHandle);
typedef simInt (__cdecl *ptrSimHandleMainScript)();
typedef simInt (__cdecl *ptrSimHandleGeneralCallbackScript)(simInt callbackId,simInt callbackTag,simVoid* additionalData);
typedef simInt (__cdecl *ptrSimResetScript)(simInt scriptHandle);
typedef simInt (__cdecl *ptrSimAddScript)(simInt scriptProperty);
typedef simInt (__cdecl *ptrSimRemoveScript)(simInt scriptHandle);
typedef simInt (__cdecl *ptrSimRefreshDialogs)(simInt refreshDegree);
typedef simInt (__cdecl *ptrSimGetCollisionHandle)(const simChar* collisionObjectName);
typedef simInt (__cdecl *ptrSimGetDistanceHandle)(const simChar* distanceObjectName);
typedef simInt (__cdecl *ptrSimGetIkGroupHandle)(const simChar* ikGroupName);
typedef simInt (__cdecl *ptrSimResetCollision)(simInt collisionObjectHandle);
typedef simInt (__cdecl *ptrSimResetDistance)(simInt distanceObjectHandle);
typedef simInt (__cdecl *ptrSimResetProximitySensor)(simInt sensorHandle);
typedef simInt (__cdecl *ptrSimResetMill)(simInt millHandle);
typedef simInt (__cdecl *ptrSimCheckProximitySensor)(simInt sensorHandle,simInt entityHandle,simFloat* detectedPoint);
typedef simInt (__cdecl *ptrSimCheckProximitySensorEx)(simInt sensorHandle,simInt entityHandle,simInt detectionMode,simFloat detectionThreshold,simFloat maxAngle,simFloat* detectedPoint,simInt* detectedObjectHandle,simFloat* normalVector);
typedef simInt (__cdecl *ptrSimCheckProximitySensorEx2)(simInt sensorHandle,simFloat* vertexPointer,simInt itemType,simInt itemCount,simInt detectionMode,simFloat detectionThreshold,simFloat maxAngle,simFloat* detectedPoint,simFloat* normalVector);
typedef simInt (__cdecl *ptrSimAddSceneCustomData)(simInt header,const simChar* data,simInt dataLength);
typedef simInt (__cdecl *ptrSimGetSceneCustomDataLength)(simInt header);
typedef simInt (__cdecl *ptrSimGetSceneCustomData)(simInt header,simChar* data);
typedef simInt (__cdecl *ptrSimAddObjectCustomData)(simInt objectHandle,simInt header,const simChar* data,simInt dataLength);
typedef simInt (__cdecl *ptrSimGetObjectCustomDataLength)(simInt objectHandle,simInt header);
typedef simInt (__cdecl *ptrSimGetObjectCustomData)(simInt objectHandle,simInt header,simChar* data);
typedef simChar* (__cdecl *ptrSimCreateBuffer)(simInt size);
typedef simInt (__cdecl *ptrSimReleaseBuffer)(simChar* buffer);
typedef simInt (__cdecl *ptrSimCheckCollision)(simInt entity1Handle,simInt entity2Handle);
typedef simInt (__cdecl *ptrSimCheckCollisionEx)(simInt entity1Handle,simInt entity2Handle,simFloat** intersectionSegments);
typedef simInt (__cdecl *ptrSimCheckDistance)(simInt entity1Handle,simInt entity2Handle,simFloat threshold,simFloat* distanceData);
typedef simChar* (__cdecl *ptrSimGetObjectConfiguration)(simInt objectHandle);
typedef simInt (__cdecl *ptrSimSetObjectConfiguration)(const simChar* data);
typedef simChar* (__cdecl *ptrSimGetConfigurationTree)(simInt objectHandle);
typedef simInt (__cdecl *ptrSimSetConfigurationTree)(const simChar* data);
typedef simInt (__cdecl *ptrSimSetSimulationTimeStep)(simFloat timeStep);
typedef simFloat (__cdecl *ptrSimGetSimulationTimeStep)();
typedef simInt (__cdecl *ptrSimGetRealTimeSimulation)();
typedef simInt (__cdecl *ptrSimIsRealTimeSimulationStepNeeded)();
typedef simInt (__cdecl *ptrSimAdjustRealTimeTimer)(simInt instanceIndex,simFloat deltaTime);
typedef simInt (__cdecl *ptrSimGetSimulationPassesPerRenderingPass)();
typedef simInt (__cdecl *ptrSimAdvanceSimulationByOneStep)();
typedef simInt (__cdecl *ptrSimStartSimulation)();
typedef simInt (__cdecl *ptrSimStopSimulation)();
typedef simInt (__cdecl *ptrSimPauseSimulation)();
typedef simVoid* (__cdecl *ptrSimBroadcastMessage)(simInt* auxiliaryData,simVoid* customData,simInt* replyData);
typedef simChar* (__cdecl *ptrSimGetModuleName)(simInt index,simUChar* moduleVersion);
typedef simChar* (__cdecl *ptrSimGetScriptSimulationParameter)(simInt scriptHandle,const simChar* parameterName,simInt* parameterLength);
typedef simInt (__cdecl *ptrSimSetScriptSimulationParameter)(simInt scriptHandle,const simChar* parameterName,const simChar* parameterValue,simInt parameterLength);
typedef simInt (__cdecl *ptrSimFloatingViewAdd)(simFloat posX,simFloat posY,simFloat sizeX,simFloat sizeY,simInt options);
typedef simInt (__cdecl *ptrSimFloatingViewRemove)(simInt floatingViewHandle);
typedef simInt (__cdecl *ptrSimAdjustView)(simInt viewHandleOrIndex,simInt associatedViewableObjectHandle,simInt options,const simChar* viewLabel);
typedef simInt (__cdecl *ptrSimSetLastError)(const simChar* funcName,const simChar* errorMessage);
typedef simInt (__cdecl *ptrSimHandleGraph)(simInt graphHandle,simFloat simulationTime);
typedef simInt (__cdecl *ptrSimResetGraph)(simInt graphHandle);
typedef simInt (__cdecl *ptrSimSetNavigationMode)(simInt navigationMode);
typedef simInt (__cdecl *ptrSimGetNavigationMode)();
typedef simInt (__cdecl *ptrSimSetPage)(simInt index);
typedef simInt (__cdecl *ptrSimGetPage)();
typedef simInt (__cdecl *ptrSimDisplayDialog)(const simChar* titleText,const simChar* mainText,simInt dialogType,const simChar* initialText,const simFloat* titleColors,const simFloat* dialogColors,simInt* elementHandle);
typedef simInt (__cdecl *ptrSimGetDialogResult)(simInt genericDialogHandle);
typedef simChar* (__cdecl *ptrSimGetDialogInput)(simInt genericDialogHandle);
typedef simInt (__cdecl *ptrSimEndDialog)(simInt genericDialogHandle);
typedef simInt (__cdecl *ptrSimRegisterCustomLuaFunction)(const simChar* funcName,const simChar* callTips,const simInt* inputArgumentTypes,simVoid(*callBack)(struct SLuaCallBack* p));
typedef simInt (__cdecl *ptrSimRegisterCustomLuaVariable)(const simChar* varName,const simChar* varValue);
typedef simInt (__cdecl *ptrSimRegisterScriptCallbackFunction)(const simChar* funcNameAtPluginName,const simChar* callTips,simVoid(*callBack)(struct SScriptCallBack* cb));
typedef simInt (__cdecl *ptrSimRegisterScriptVariable)(const simChar* varName,const simChar* varValue,simInt stackHandle);
typedef simInt (__cdecl *ptrSimSetJointTargetVelocity)(simInt objectHandle,simFloat targetVelocity);
typedef simInt (__cdecl *ptrSimGetJointTargetVelocity)(simInt objectHandle,simFloat* targetVelocity);
typedef simInt (__cdecl *ptrSimSetPathTargetNominalVelocity)(simInt objectHandle,simFloat targetNominalVelocity);
typedef simChar* (__cdecl *ptrSimGetScriptRawBuffer)(simInt scriptHandle,simInt bufferHandle);
typedef simInt (__cdecl *ptrSimSetScriptRawBuffer)(simInt scriptHandle,const simChar* buffer,simInt bufferSize);
typedef simInt (__cdecl *ptrSimReleaseScriptRawBuffer)(simInt scriptHandle,simInt bufferHandle);
typedef simInt (__cdecl *ptrSimCopyPasteObjects)(simInt* objectHandles,simInt objectCount,simInt options);
typedef simInt (__cdecl *ptrSimScaleSelectedObjects)(simFloat scalingFactor,simBool scalePositionsToo);
typedef simInt (__cdecl *ptrSimScaleObjects)(const simFloat* objectHandles,simInt objectCount,simFloat scalingFactor,simBool scalePositionsToo);
typedef simInt (__cdecl *ptrSimDeleteSelectedObjects)();
typedef simInt (__cdecl *ptrSimGetObjectUniqueIdentifier)(simInt objectHandle,simInt* uniqueIdentifier);
typedef simInt (__cdecl *ptrSimGetNameSuffix)(const simChar* name);
typedef simInt (__cdecl *ptrSimSendData)(simInt targetID,simInt dataHeader,const simChar* dataName,const simChar* data,simInt dataLength,simInt antennaHandle,simFloat actionRadius,simFloat emissionAngle1,simFloat emissionAngle2,simFloat persistence);
typedef simChar* (__cdecl *ptrSimReceiveData)(simInt dataHeader,const simChar* dataName,simInt antennaHandle,simInt index,simInt* dataLength,simInt* senderID,simInt* dataHeaderR,simChar** dataNameR);
typedef simInt (__cdecl *ptrSimSetGraphUserData)(simInt graphHandle,const simChar* dataStreamName,simFloat data);
typedef simInt (__cdecl *ptrSimSetNameSuffix)(simInt nameSuffixNumber);
typedef simInt (__cdecl *ptrSimAddDrawingObject)(simInt objectType,simFloat size,simFloat duplicateTolerance,simInt parentObjectHandle,simInt maxItemCount,const simFloat* ambient_diffuse,const simFloat* setToNULL,const simFloat* specular,const simFloat* emission);
typedef simInt (__cdecl *ptrSimRemoveDrawingObject)(simInt objectHandle);
typedef simInt (__cdecl *ptrSimAddDrawingObjectItem)(simInt objectHandle,const simFloat* itemData);
typedef simInt (__cdecl *ptrSimAddParticleObject)(simInt objectType,simFloat size,simFloat density,const simVoid* params,simFloat lifeTime,simInt maxItemCount,const simFloat* ambient_diffuse,const simFloat* setToNULL,const simFloat* specular,const simFloat* emission);
typedef simInt (__cdecl *ptrSimRemoveParticleObject)(simInt objectHandle);
typedef simInt (__cdecl *ptrSimAddParticleObjectItem)(simInt objectHandle,const simFloat* itemData);
typedef simFloat (__cdecl *ptrSimGetObjectSizeFactor)(simInt objectHandle);
typedef simInt (__cdecl *ptrSimAnnounceSceneContentChange)();
typedef simInt (__cdecl *ptrSimResetMilling)(simInt objectHandle);
typedef simInt (__cdecl *ptrSimApplyMilling)(simInt objectHandle);
typedef simInt (__cdecl *ptrSimSetIntegerSignal)(const simChar* signalName,simInt signalValue);
typedef simInt (__cdecl *ptrSimGetIntegerSignal)(const simChar* signalName,simInt* signalValue);
typedef simInt (__cdecl *ptrSimClearIntegerSignal)(const simChar* signalName);
typedef simInt (__cdecl *ptrSimSetFloatSignal)(const simChar* signalName,simFloat signalValue);
typedef simInt (__cdecl *ptrSimGetFloatSignal)(const simChar* signalName,simFloat* signalValue);
typedef simInt (__cdecl *ptrSimClearFloatSignal)(const simChar* signalName);
typedef simInt (__cdecl *ptrSimSetStringSignal)(const simChar* signalName,const simChar* signalValue,simInt stringLength);
typedef simChar* (__cdecl *ptrSimGetStringSignal)(const simChar* signalName,simInt* stringLength);
typedef simInt (__cdecl *ptrSimClearStringSignal)(const simChar* signalName);
typedef simChar* (__cdecl *ptrSimGetSignalName)(simInt signalIndex,simInt signalType);
typedef simInt (__cdecl *ptrSimSetObjectProperty)(simInt objectHandle,simInt prop);
typedef simInt (__cdecl *ptrSimGetObjectProperty)(simInt objectHandle);
typedef simInt (__cdecl *ptrSimSetObjectSpecialProperty)(simInt objectHandle,simInt prop);
typedef simInt (__cdecl *ptrSimGetObjectSpecialProperty)(simInt objectHandle);
typedef simInt (__cdecl *ptrSimGetPositionOnPath)(simInt pathHandle,simFloat relativeDistance,simFloat* position);
typedef simInt (__cdecl *ptrSimGetOrientationOnPath)(simInt pathHandle,simFloat relativeDistance,simFloat* eulerAngles);
typedef simInt (__cdecl *ptrSimGetDataOnPath)(simInt pathHandle,simFloat relativeDistance,simInt dataType,simInt* intData,simFloat* floatData);
typedef simInt (__cdecl *ptrSimGetClosestPositionOnPath)(simInt pathHandle,simFloat* absolutePosition,simFloat* pathPosition);
typedef simInt (__cdecl *ptrSimReadForceSensor)(simInt objectHandle,simFloat* forceVector,simFloat* torqueVector);
typedef simInt (__cdecl *ptrSimBreakForceSensor)(simInt objectHandle);
typedef simInt (__cdecl *ptrSimGetShapeVertex)(simInt shapeHandle,simInt groupElementIndex,simInt vertexIndex,simFloat* relativePosition);
typedef simInt (__cdecl *ptrSimGetShapeTriangle)(simInt shapeHandle,simInt groupElementIndex,simInt triangleIndex,simInt* vertexIndices,simFloat* triangleNormals);
typedef simInt (__cdecl *ptrSimSetLightParameters)(simInt objectHandle,simInt state,const simFloat* setToNULL,const simFloat* diffusePart,const simFloat* specularPart);
typedef simInt (__cdecl *ptrSimGetLightParameters)(simInt objectHandle,simFloat* setToNULL,simFloat* diffusePart,simFloat* specularPart);
typedef simInt (__cdecl *ptrSimHandleVarious)();
typedef simInt (__cdecl *ptrSimGetVelocity)(simInt shapeHandle,simFloat* linearVelocity,simFloat* angularVelocity);
typedef simInt (__cdecl *ptrSimGetObjectVelocity)(simInt objectHandle,simFloat* linearVelocity,simFloat* angularVelocity);
typedef simInt (__cdecl *ptrSimAddForceAndTorque)(simInt shapeHandle,const simFloat* force,const simFloat* torque);
typedef simInt (__cdecl *ptrSimAddForce)(simInt shapeHandle,const simFloat* position,const simFloat* force);
typedef simInt (__cdecl *ptrSimSetExplicitHandling)(simInt generalObjectHandle,int explicitFlags);
typedef simInt (__cdecl *ptrSimGetExplicitHandling)(simInt generalObjectHandle);
typedef simInt (__cdecl *ptrSimGetLinkDummy)(simInt dummyHandle);
typedef simInt (__cdecl *ptrSimSetLinkDummy)(simInt dummyHandle,simInt linkedDummyHandle);
typedef simInt (__cdecl *ptrSimSetModelProperty)(simInt objectHandle,simInt modelProperty);
typedef simInt (__cdecl *ptrSimGetModelProperty)(simInt objectHandle);
typedef simInt (__cdecl *ptrSimSetShapeColor)(simInt shapeHandle,const simChar* colorName,simInt colorComponent,const simFloat* rgbData);
typedef simInt (__cdecl *ptrSimGetShapeColor)(simInt shapeHandle,const simChar* colorName,simInt colorComponent,simFloat* rgbData);
typedef simInt (__cdecl *ptrSimResetDynamicObject)(simInt objectHandle);
typedef simInt (__cdecl *ptrSimSetJointMode)(simInt jointHandle,simInt jointMode,simInt options);
typedef simInt (__cdecl *ptrSimGetJointMode)(simInt jointHandle,simInt* options);
typedef simInt (__cdecl *ptrSimSerialOpen)(const simChar* portString,simInt baudRate,simVoid* reserved1,simVoid* reserved2);
typedef simInt (__cdecl *ptrSimSerialClose)(simInt portHandle);
typedef simInt (__cdecl *ptrSimSerialSend)(simInt portHandle,const simChar* data,simInt dataLength);
typedef simInt (__cdecl *ptrSimSerialRead)(simInt portHandle,simChar* buffer,simInt dataLengthToRead);
typedef simInt (__cdecl *ptrSimSerialCheck)(simInt portHandle);
typedef simInt (__cdecl *ptrSimGetContactInfo)(simInt dynamicPass,simInt objectHandle,simInt index,simInt* objectHandles,simFloat* contactInfo);
typedef simInt (__cdecl *ptrSimSetThreadIsFree)(simBool freeMode);
typedef simInt (__cdecl *ptrSimTubeOpen)(simInt dataHeader,const simChar* dataName,simInt readBufferSize,simBool notUsedButKeepFalse);
typedef simInt (__cdecl *ptrSimTubeClose)(simInt tubeHandle);
typedef simInt (__cdecl *ptrSimTubeWrite)(simInt tubeHandle,const simChar* data,simInt dataLength);
typedef simChar* (__cdecl *ptrSimTubeRead)(simInt tubeHandle,simInt* dataLength);
typedef simInt (__cdecl *ptrSimTubeStatus)(simInt tubeHandle,simInt* readPacketsCount,simInt* writePacketsCount);
typedef simInt (__cdecl *ptrSimAuxiliaryConsoleOpen)(const simChar* title,simInt maxLines,simInt mode,const simInt* position,const simInt* size,const simFloat* textColor,const simFloat* backgroundColor);
typedef simInt (__cdecl *ptrSimAuxiliaryConsoleClose)(simInt consoleHandle);
typedef simInt (__cdecl *ptrSimAuxiliaryConsoleShow)(simInt consoleHandle,simBool showState);
typedef simInt (__cdecl *ptrSimAuxiliaryConsolePrint)(simInt consoleHandle,const simChar* text);
typedef simInt (__cdecl *ptrSimImportShape)(simInt fileformat,const simChar* pathAndFilename,simInt options,simFloat identicalVerticeTolerance,simFloat scalingFactor);
typedef simInt (__cdecl *ptrSimImportMesh)(simInt fileformat,const simChar* pathAndFilename,simInt options,simFloat identicalVerticeTolerance,simFloat scalingFactor,simFloat*** vertices,simInt** verticesSizes,simInt*** indices,simInt** indicesSizes,simFloat*** reserved,simChar*** names);
typedef simInt (__cdecl *ptrSimExportMesh)(simInt fileformat,const simChar* pathAndFilename,simInt options,simFloat scalingFactor,simInt elementCount,simFloat** vertices,const simInt* verticesSizes,simInt** indices,const simInt* indicesSizes,simFloat** reserved,simChar** names);
typedef simInt (__cdecl *ptrSimCreateMeshShape)(simInt options,simFloat shadingAngle,const simFloat* vertices,simInt verticesSize,const simInt* indices,simInt indicesSize,simFloat* reserved);
typedef simInt (__cdecl *ptrSimCreatePureShape)(simInt primitiveType,simInt options,const simFloat* sizes,simFloat mass,const simInt* precision);
typedef simInt (__cdecl *ptrSimCreateHeightfieldShape)(simInt options,simFloat shadingAngle,simInt xPointCount,simInt yPointCount,simFloat xSize,const simFloat* heights);
typedef simInt (__cdecl *ptrSimGetShapeMesh)(simInt shapeHandle,simFloat** vertices,simInt* verticesSize,simInt** indices,simInt* indicesSize,simFloat** normals);
typedef simInt (__cdecl *ptrSimAddBanner)(const simChar* label,simFloat size,simInt options,const simFloat* positionAndEulerAngles,simInt parentObjectHandle,const simFloat* labelColors,const simFloat* backgroundColors);
typedef simInt (__cdecl *ptrSimRemoveBanner)(simInt bannerID);
typedef simInt (__cdecl *ptrSimCreateJoint)(simInt jointType,simInt jointMode,simInt options,const simFloat* sizes,const simFloat* colorA,const simFloat* colorB);
typedef simInt (__cdecl *ptrSimCreateDummy)(simFloat size,const simFloat* color);
typedef simInt (__cdecl *ptrSimCreateForceSensor)(simInt options,const simInt* intParams,const simFloat* floatParams,const simFloat* color);
typedef simInt (__cdecl *ptrSimCreateVisionSensor)(simInt options,const simInt* intParams,const simFloat* floatParams,const simFloat* color);
typedef simInt (__cdecl *ptrSimCreateProximitySensor)(simInt sensorType,simInt subType,simInt options,const simInt* intParams,const simFloat* floatParams,const simFloat* color);
typedef simInt (__cdecl *ptrSimCreatePath)(simInt attributes,const simInt* intParams,const simFloat* floatParams,const simFloat* color);
typedef simInt (__cdecl *ptrSimInsertPathCtrlPoints)(simInt pathHandle,simInt options,simInt startIndex,simInt ptCnt,const simVoid* ptData);
typedef simInt (__cdecl *ptrSimCutPathCtrlPoints)(simInt pathHandle,simInt startIndex,simInt ptCnt);
typedef simInt (__cdecl *ptrSimRegisterContactCallback)(simInt(*callBack)(simInt,simInt,simInt,simInt*,simFloat*));
typedef simInt (__cdecl *ptrSimGetObjectIntParameter)(simInt objectHandle,simInt parameterID,simInt* parameter);
typedef simInt (__cdecl *ptrSimSetObjectIntParameter)(simInt objectHandle,simInt parameterID,simInt parameter);
typedef simInt (__cdecl *ptrSimGetObjectInt32Parameter)(simInt objectHandle,simInt parameterID,simInt* parameter);
typedef simInt (__cdecl *ptrSimSetObjectInt32Parameter)(simInt objectHandle,simInt parameterID,simInt parameter);
typedef simInt (__cdecl *ptrSimGetObjectFloatParameter)(simInt objectHandle,simInt parameterID,simFloat* parameter);
typedef simInt (__cdecl *ptrSimSetObjectFloatParameter)(simInt objectHandle,simInt parameterID,simFloat parameter);
typedef simChar* (__cdecl *ptrSimGetObjectStringParameter)(simInt objectHandle,simInt parameterID,simInt* parameterLength);
typedef simInt (__cdecl *ptrSimSetObjectStringParameter)(simInt objectHandle,simInt parameterID,simChar* parameter,simInt parameterLength);
typedef simInt (__cdecl *ptrSimSetSimulationPassesPerRenderingPass)(simInt p);
typedef simInt (__cdecl *ptrSimGetRotationAxis)(const simFloat* matrixStart,const simFloat* matrixGoal,simFloat* axis,simFloat* angle);
typedef simInt (__cdecl *ptrSimRotateAroundAxis)(const simFloat* matrixIn,const simFloat* axis,const simFloat* axisPos,simFloat angle,simFloat* matrixOut);
typedef simInt (__cdecl *ptrSimGetJointForce)(simInt jointHandle,simFloat* forceOrTorque);
typedef simInt (__cdecl *ptrSimSetArrayParameter)(simInt parameter,const simVoid* arrayOfValues);
typedef simInt (__cdecl *ptrSimGetArrayParameter)(simInt parameter,simVoid* arrayOfValues);
typedef simInt (__cdecl *ptrSimSetIkGroupProperties)(simInt ikGroupHandle,simInt resolutionMethod,simInt maxIterations,simFloat damping,void* reserved);
typedef simInt (__cdecl *ptrSimSetIkElementProperties)(simInt ikGroupHandle,simInt tipDummyHandle,simInt constraints,const simFloat* precision,const simFloat* weight,void* reserved);
typedef simInt (__cdecl *ptrSimCameraFitToView)(simInt viewHandleOrIndex,simInt objectCount,const simInt* objectHandles,simInt options,simFloat scaling);
typedef simInt (__cdecl *ptrSimPersistentDataWrite)(const simChar* dataName,const simChar* dataValue,simInt dataLength,simInt options);
typedef simChar* (__cdecl *ptrSimPersistentDataRead)(const simChar* dataName,simInt* dataLength);
typedef simInt (__cdecl *ptrSimIsHandleValid)(simInt generalObjectHandle,simInt generalObjectType);
typedef simInt (__cdecl *ptrSimHandleVisionSensor)(simInt visionSensorHandle,simFloat** auxValues,simInt** auxValuesCount);
typedef simInt (__cdecl *ptrSimReadVisionSensor)(simInt visionSensorHandle,simFloat** auxValues,simInt** auxValuesCount);
typedef simInt (__cdecl *ptrSimResetVisionSensor)(simInt visionSensorHandle);
typedef simInt (__cdecl *ptrSimCheckVisionSensor)(simInt visionSensorHandle,simInt entityHandle,simFloat** auxValues,simInt** auxValuesCount);
typedef simFloat* (__cdecl *ptrSimCheckVisionSensorEx)(simInt visionSensorHandle,simInt entityHandle,simBool returnImage);
typedef simInt (__cdecl *ptrSimGetVisionSensorResolution)(simInt visionSensorHandle,simInt* resolution);
typedef simFloat* (__cdecl *ptrSimGetVisionSensorImage)(simInt visionSensorHandle);
typedef simUChar* (__cdecl *ptrSimGetVisionSensorCharImage)(simInt visionSensorHandle,simInt* resolutionX,simInt* resolutionY);
typedef simInt (__cdecl *ptrSimSetVisionSensorImage)(simInt visionSensorHandle,const simFloat* image);
typedef simInt (__cdecl *ptrSimSetVisionSensorCharImage)(simInt visionSensorHandle,const simUChar* image);
typedef simFloat* (__cdecl *ptrSimGetVisionSensorDepthBuffer)(simInt visionSensorHandle);
typedef simInt (__cdecl *ptrSimCreateUI)(const simChar* uiName,simInt menuAttributes,const simInt* clientSize,const simInt* cellSize,simInt* buttonHandles);
typedef simInt (__cdecl *ptrSimCreateUIButton)(simInt uiHandle,const simInt* position,const simInt* size,simInt buttonProperty);
typedef simInt (__cdecl *ptrSimGetUIHandle)(const simChar* uiName);
typedef simInt (__cdecl *ptrSimGetUIProperty)(simInt uiHandle);
typedef simInt (__cdecl *ptrSimGetUIEventButton)(simInt uiHandle,simInt* auxiliaryValues);
typedef simInt (__cdecl *ptrSimSetUIProperty)(simInt uiHandle,simInt elementProperty);
typedef simInt (__cdecl *ptrSimGetUIButtonProperty)(simInt uiHandle,simInt buttonHandle);
typedef simInt (__cdecl *ptrSimSetUIButtonProperty)(simInt uiHandle,simInt buttonHandle,simInt buttonProperty);
typedef simInt (__cdecl *ptrSimGetUIButtonSize)(simInt uiHandle,simInt buttonHandle,simInt* size);
typedef simInt (__cdecl *ptrSimSetUIButtonLabel)(simInt uiHandle,simInt buttonHandle,const simChar* upStateLabel,const simChar* downStateLabel);
typedef simChar* (__cdecl *ptrSimGetUIButtonLabel)(simInt uiHandle,simInt buttonHandle);
typedef simInt (__cdecl *ptrSimSetUISlider)(simInt uiHandle,simInt buttonHandle,simInt position);
typedef simInt (__cdecl *ptrSimGetUISlider)(simInt uiHandle,simInt buttonHandle);
typedef simInt (__cdecl *ptrSimSetUIButtonColor)(simInt uiHandle,simInt buttonHandle,const simFloat* upStateColor,const simFloat* downStateColor,const simFloat* labelColor);
typedef simInt (__cdecl *ptrSimSetUIButtonTexture)(simInt uiHandle,simInt buttonHandle,const simInt* size,const simChar* textureData);
typedef simInt (__cdecl *ptrSimCreateUIButtonArray)(simInt uiHandle,simInt buttonHandle);
typedef simInt (__cdecl *ptrSimSetUIButtonArrayColor)(simInt uiHandle,simInt buttonHandle,const simInt* position,const simFloat* color);
typedef simInt (__cdecl *ptrSimDeleteUIButtonArray)(simInt uiHandle,simInt buttonHandle);
typedef simInt (__cdecl *ptrSimRemoveUI)(simInt uiHandle);
typedef simInt (__cdecl *ptrSimSetUIPosition)(simInt uiHandle,const simInt* position);
typedef simInt (__cdecl *ptrSimGetUIPosition)(simInt uiHandle,simInt* position);
typedef simInt (__cdecl *ptrSimGetObjectQuaternion)(simInt objectHandle,simInt relativeToObjectHandle,simFloat* quaternion);
typedef simInt (__cdecl *ptrSimSetObjectQuaternion)(simInt objectHandle,simInt relativeToObjectHandle,const simFloat* quaternion);
typedef simInt (__cdecl *ptrSimRMLPosition)(simInt dofs,simDouble timeStep,simInt flags,const simDouble* currentPosVelAccel,const simDouble* maxVelAccelJerk,const simBool* selection,const simDouble* targetPosVel,simDouble* newPosVelAccel,simVoid* auxData);
typedef simInt (__cdecl *ptrSimRMLVelocity)(simInt dofs,simDouble timeStep,simInt flags,const simDouble* currentPosVelAccel,const simDouble* maxAccelJerk,const simBool* selection,const simDouble* targetVel,simDouble* newPosVelAccel,simVoid* auxData);
typedef simInt (__cdecl *ptrSimRMLPos)(simInt dofs,simDouble smallestTimeStep,simInt flags,const simDouble* currentPosVelAccel,const simDouble* maxVelAccelJerk,const simBool* selection,const simDouble* targetPosVel,simVoid* auxData);
typedef simInt (__cdecl *ptrSimRMLVel)(simInt dofs,simDouble smallestTimeStep,simInt flags,const simDouble* currentPosVelAccel,const simDouble* maxAccelJerk,const simBool* selection,const simDouble* targetVel,simVoid* auxData);
typedef simInt (__cdecl *ptrSimRMLStep)(simInt handle,simDouble timeStep,simDouble* newPosVelAccel,simVoid* auxData,simVoid* reserved);
typedef simInt (__cdecl *ptrSimRMLRemove)(simInt handle);
typedef simInt (__cdecl *ptrSimBuildMatrixQ)(const simFloat* position,const simFloat* quaternion,simFloat* matrix);
typedef simInt (__cdecl *ptrSimGetQuaternionFromMatrix)(const simFloat* matrix,simFloat* quaternion);
typedef simChar* (__cdecl *ptrSimFileDialog)(simInt mode,const simChar* title,const simChar* startPath,const simChar* initName,const simChar* extName,const simChar* ext);
typedef simChar* (__cdecl *ptrSimMsgBox)(simInt dlgType,simInt buttons,const simChar* title,const simChar* message);
typedef simInt (__cdecl *ptrSimSetShapeMassAndInertia)(simInt shapeHandle,simFloat mass,const simFloat* inertiaMatrix,const simFloat* centerOfMass,const simFloat* transformation);
typedef simInt (__cdecl *ptrSimGetShapeMassAndInertia)(simInt shapeHandle,simFloat* mass,simFloat* inertiaMatrix,simFloat* centerOfMass,const simFloat* transformation);
typedef simInt (__cdecl *ptrSimGroupShapes)(const simInt* shapeHandles,simInt shapeCount);
typedef simInt* (__cdecl *ptrSimUngroupShape)(simInt shapeHandle,simInt* shapeCount);
typedef simInt (__cdecl *ptrSimConvexDecompose)(simInt shapeHandle,simInt options,const simInt* intParams,const simFloat* floatParams);
typedef simFloat* (__cdecl *ptrSimGetIkGroupMatrix)(simInt ikGroupHandle,simInt options,simInt* matrixSize);
typedef simInt (__cdecl *ptrSimAddGhost)(simInt ghostGroup,simInt objectHandle,simInt options,simFloat startTime,simFloat endTime,const simFloat* color);
typedef simInt (__cdecl *ptrSimModifyGhost)(simInt ghostGroup,simInt ghostId,simInt operation,simFloat floatValue,simInt options,simInt optionsMask,const simFloat* colorOrTransformation);
typedef simVoid (__cdecl *ptrSimQuitSimulator)(simBool doNotDisplayMessages);
typedef simInt (__cdecl *ptrSimGetThreadId)();
typedef simInt (__cdecl *ptrSimLockResources)(simInt lockType,simInt reserved);
typedef simInt (__cdecl *ptrSimUnlockResources)(simInt lockHandle);
typedef simInt (__cdecl *ptrSimEnableEventCallback)(simInt eventCallbackType,const simChar* plugin,simInt reserved);
typedef simInt (__cdecl *ptrSimGetMaterialId)(const simChar* materialName);
typedef simInt (__cdecl *ptrSimSetShapeMaterial)(simInt shapeHandle,simInt materialId);
typedef simInt (__cdecl *ptrSimGetShapeMaterial)(simInt shapeHandle);
typedef simInt (__cdecl *ptrSimGetTextureId)(const simChar* textureName,simInt* resolution);
typedef simChar* (__cdecl *ptrSimReadTexture)(simInt textureId,simInt options,simInt posX,simInt posY,simInt sizeX,simInt sizeY);
typedef simInt (__cdecl *ptrSimWriteTexture)(simInt textureId,simInt options,const simChar* data,simInt posX,simInt posY,simInt sizeX,simInt sizeY,simFloat interpol);
typedef simInt (__cdecl *ptrSimCreateTexture)(const simChar* fileName,simInt options,const simFloat* planeSizes,const simFloat* scalingUV,const simFloat* xy_g,simInt fixedResolution,simInt* textureId,simInt* resolution,const simVoid* reserved);
typedef simInt (__cdecl *ptrSimWriteCustomDataBlock)(simInt objectHandle,const simChar* dataName,const simChar* data,simInt dataSize);
typedef simChar* (__cdecl *ptrSimReadCustomDataBlock)(simInt objectHandle,const simChar* dataName,simInt* dataSize);
typedef simInt (__cdecl *ptrSimAddPointCloud)(simInt pageMask,simInt layerMask,simInt objectHandle,simInt options,simFloat pointSize,simInt ptCnt,const simFloat* pointCoordinates,const simChar* defaultColors,const simChar* pointColors,const simFloat* pointNormals);
typedef simInt (__cdecl *ptrSimModifyPointCloud)(simInt pointCloudHandle,simInt operation,const simInt* intParam,const simFloat* floatParam);
typedef simInt (__cdecl *ptrSimGetShapeGeomInfo)(simInt shapeHandle,simInt* intData,simFloat* floatData,simVoid* reserved);
typedef simInt* (__cdecl *ptrSimGetObjectsInTree)(simInt treeBaseHandle,simInt objectType,simInt options,simInt* objectCount);
typedef simInt (__cdecl *ptrSimSetObjectSizeValues)(simInt objectHandle,const simFloat* sizeValues);
typedef simInt (__cdecl *ptrSimGetObjectSizeValues)(simInt objectHandle,simFloat* sizeValues);
typedef simInt (__cdecl *ptrSimScaleObject)(simInt objectHandle,simFloat xScale,simFloat yScale,simFloat zScale,simInt options);
typedef simInt (__cdecl *ptrSimSetShapeTexture)(simInt shapeHandle,simInt textureId,simInt mappingMode,simInt options,const simFloat* uvScaling,const simFloat* position,const simFloat* orientation);
typedef simInt (__cdecl *ptrSimGetShapeTextureId)(simInt shapeHandle);
typedef simInt* (__cdecl *ptrSimGetCollectionObjects)(simInt collectionHandle,simInt* objectCount);
typedef simInt (__cdecl *ptrSimHandleCustomizationScripts)(simInt callType);
typedef simInt (__cdecl *ptrSimSetScriptAttribute)(simInt scriptHandle,simInt attributeID,simFloat floatVal,simInt intOrBoolVal);
typedef simInt (__cdecl *ptrSimGetScriptAttribute)(simInt scriptHandle,simInt attributeID,simFloat* floatVal,simInt* intOrBoolVal);
typedef simInt (__cdecl *ptrSimReorientShapeBoundingBox)(simInt shapeHandle,simInt relativeToHandle,simInt reservedSetToZero);
typedef simInt (__cdecl *ptrSimSwitchThread)();
typedef simInt (__cdecl *ptrSimCreateIkGroup)(simInt options,const simInt* intParams,const simFloat* floatParams,const simVoid* reserved);
typedef simInt (__cdecl *ptrSimRemoveIkGroup)(simInt ikGroupHandle);
typedef simInt (__cdecl *ptrSimCreateIkElement)(simInt ikGroupHandle,simInt options,const simInt* intParams,const simFloat* floatParams,const simVoid* reserved);
typedef simInt (__cdecl *ptrSimCreateCollection)(const simChar* collectionName,simInt options);
typedef simInt (__cdecl *ptrSimAddObjectToCollection)(simInt collectionHandle,simInt objectHandle,simInt what,simInt options);
typedef simInt (__cdecl *ptrSimSaveImage)(const simUChar* image,const simInt* resolution,simInt options,const simChar* filename,simInt quality,simVoid* reserved);
typedef simUChar* (__cdecl *ptrSimLoadImage)(simInt* resolution,simInt options,const simChar* filename,simVoid* reserved);
typedef simUChar* (__cdecl *ptrSimGetScaledImage)(const simUChar* imageIn,const simInt* resolutionIn,simInt* resolutionOut,simInt options,simVoid* reserved);
typedef simInt (__cdecl *ptrSimTransformImage)(simUChar* image,const simInt* resolution,simInt options,const simFloat* floatParams,const simInt* intParams,simVoid* reserved);
typedef simInt (__cdecl *ptrSimGetQHull)(const simFloat* inVertices,simInt inVerticesL,simFloat** verticesOut,simInt* verticesOutL,simInt** indicesOut,simInt* indicesOutL,simInt reserved1,const simFloat* reserved2);
typedef simInt (__cdecl *ptrSimGetDecimatedMesh)(const simFloat* inVertices,simInt inVerticesL,const simInt* inIndices,simInt inIndicesL,simFloat** verticesOut,simInt* verticesOutL,simInt** indicesOut,simInt* indicesOutL,simFloat decimationPercent,simInt reserved1,const simFloat* reserved2);
typedef simInt (__cdecl *ptrSimExportIk)(const simChar* pathAndFilename,simInt reserved1,simVoid* reserved2);
typedef simInt (__cdecl *ptrSimCallScriptFunction)(simInt scriptHandleOrType,const simChar* functionNameAtScriptName,SLuaCallBack* data,const simChar* reservedSetToNull);
typedef simInt (__cdecl *ptrSimCallScriptFunctionEx)(simInt scriptHandleOrType,const simChar* functionNameAtScriptName,simInt stackId);
typedef simInt (__cdecl *ptrSimComputeJacobian)(simInt ikGroupHandle,simInt options,simVoid* reserved);
typedef simInt (__cdecl *ptrSimGetConfigForTipPose)(simInt ikGroupHandle,simInt jointCnt,const simInt* jointHandles,simFloat thresholdDist,simInt maxTimeInMs,simFloat* retConfig,const simFloat* metric,simInt collisionPairCnt,const simInt* collisionPairs,const simInt* jointOptions,const simFloat* lowLimits,const simFloat* ranges,simVoid* reserved);
typedef simFloat* (__cdecl *ptrSimGenerateIkPath)(simInt ikGroupHandle,simInt jointCnt,const simInt* jointHandles,simInt ptCnt,simInt collisionPairCnt,const simInt* collisionPairs,const simInt* jointOptions,simVoid* reserved);
typedef simChar* (__cdecl *ptrSimGetExtensionString)(simInt objectHandle,simInt index,const char* key);
typedef simInt (__cdecl *ptrSimComputeMassAndInertia)(simInt shapeHandle,simFloat density);
typedef simInt (__cdecl *ptrSimCreateStack)();
typedef simInt (__cdecl *ptrSimReleaseStack)(simInt stackHandle);
typedef simInt (__cdecl *ptrSimCopyStack)(simInt stackHandle);
typedef simInt (__cdecl *ptrSimPushNullOntoStack)(simInt stackHandle);
typedef simInt (__cdecl *ptrSimPushBoolOntoStack)(simInt stackHandle,simBool value);
typedef simInt (__cdecl *ptrSimPushInt32OntoStack)(simInt stackHandle,simInt value);
typedef simInt (__cdecl *ptrSimPushFloatOntoStack)(simInt stackHandle,simFloat value);
typedef simInt (__cdecl *ptrSimPushDoubleOntoStack)(simInt stackHandle,simDouble value);
typedef simInt (__cdecl *ptrSimPushStringOntoStack)(simInt stackHandle,const simChar* value,simInt stringSize);
typedef simInt (__cdecl *ptrSimPushUInt8TableOntoStack)(simInt stackHandle,const simUChar* values,simInt valueCnt);
typedef simInt (__cdecl *ptrSimPushInt32TableOntoStack)(simInt stackHandle,const simInt* values,simInt valueCnt);
typedef simInt (__cdecl *ptrSimPushFloatTableOntoStack)(simInt stackHandle,const simFloat* values,simInt valueCnt);
typedef simInt (__cdecl *ptrSimPushDoubleTableOntoStack)(simInt stackHandle,const simDouble* values,simInt valueCnt);
typedef simInt (__cdecl *ptrSimPushTableOntoStack)(simInt stackHandle);
typedef simInt (__cdecl *ptrSimInsertDataIntoStackTable)(simInt stackHandle);
typedef simInt (__cdecl *ptrSimGetStackSize)(simInt stackHandle);
typedef simInt (__cdecl *ptrSimPopStackItem)(simInt stackHandle,simInt count);
typedef simInt (__cdecl *ptrSimMoveStackItemToTop)(simInt stackHandle,simInt cIndex);
typedef simInt (__cdecl *ptrSimIsStackValueNull)(simInt stackHandle);
typedef simInt (__cdecl *ptrSimGetStackBoolValue)(simInt stackHandle,simBool* boolValue);
typedef simInt (__cdecl *ptrSimGetStackInt32Value)(simInt stackHandle,simInt* numberValue);
typedef simInt (__cdecl *ptrSimGetStackFloatValue)(simInt stackHandle,simFloat* numberValue);
typedef simInt (__cdecl *ptrSimGetStackDoubleValue)(simInt stackHandle,simDouble* numberValue);
typedef simChar* (__cdecl *ptrSimGetStackStringValue)(simInt stackHandle,simInt* stringSize);
typedef simInt (__cdecl *ptrSimGetStackTableInfo)(simInt stackHandle,simInt infoType);
typedef simInt (__cdecl *ptrSimGetStackUInt8Table)(simInt stackHandle,simUChar* array,simInt count);
typedef simInt (__cdecl *ptrSimGetStackInt32Table)(simInt stackHandle,simInt* array,simInt count);
typedef simInt (__cdecl *ptrSimGetStackFloatTable)(simInt stackHandle,simFloat* array,simInt count);
typedef simInt (__cdecl *ptrSimGetStackDoubleTable)(simInt stackHandle,simDouble* array,simInt count);
typedef simInt (__cdecl *ptrSimUnfoldStackTable)(simInt stackHandle);
typedef simInt (__cdecl *ptrSimDebugStack)(simInt stackHandle,simInt cIndex);
typedef simInt (__cdecl *ptrSimSetScriptVariable)(simInt scriptHandleOrType,const simChar* variableNameAtScriptName,simInt stackHandle);
typedef simFloat (__cdecl *ptrSimGetEngineFloatParameter)(simInt paramId,simInt objectHandle,const simVoid* object,simBool* ok);
typedef simInt (__cdecl *ptrSimGetEngineInt32Parameter)(simInt paramId,simInt objectHandle,const simVoid* object,simBool* ok);
typedef simBool (__cdecl *ptrSimGetEngineBoolParameter)(simInt paramId,simInt objectHandle,const simVoid* object,simBool* ok);
typedef simInt (__cdecl *ptrSimSetEngineFloatParameter)(simInt paramId,simInt objectHandle,const simVoid* object,simFloat val);
typedef simInt (__cdecl *ptrSimSetEngineInt32Parameter)(simInt paramId,simInt objectHandle,const simVoid* object,simInt val);
typedef simInt (__cdecl *ptrSimSetEngineBoolParameter)(simInt paramId,simInt objectHandle,const simVoid* object,simBool val);
typedef simInt (__cdecl *ptrSimCreateOctree)(simFloat voxelSize,simInt options,simFloat pointSize,simVoid* reserved);
typedef simInt (__cdecl *ptrSimCreatePointCloud)(simFloat maxVoxelSize,simInt maxPtCntPerVoxel,simInt options,simFloat pointSize,simVoid* reserved);
typedef simInt (__cdecl *ptrSimSetPointCloudOptions)(simInt pointCloudHandle,simFloat maxVoxelSize,simInt maxPtCntPerVoxel,simInt options,simFloat pointSize,simVoid* reserved);
typedef simInt (__cdecl *ptrSimGetPointCloudOptions)(simInt pointCloudHandle,simFloat* maxVoxelSize,simInt* maxPtCntPerVoxel,simInt* options,simFloat* pointSize,simVoid* reserved);
typedef simInt (__cdecl *ptrSimInsertVoxelsIntoOctree)(simInt octreeHandle,simInt options,const simFloat* pts,simInt ptCnt,const simUChar* color,const simUInt* tag,simVoid* reserved);
typedef simInt (__cdecl *ptrSimRemoveVoxelsFromOctree)(simInt octreeHandle,simInt options,const simFloat* pts,simInt ptCnt,simVoid* reserved);
typedef simInt (__cdecl *ptrSimInsertPointsIntoPointCloud)(simInt pointCloudHandle,simInt options,const simFloat* pts,simInt ptCnt,const simUChar* color,simVoid* optionalValues);
typedef simInt (__cdecl *ptrSimRemovePointsFromPointCloud)(simInt pointCloudHandle,simInt options,const simFloat* pts,simInt ptCnt,simFloat tolerance,simVoid* reserved);
typedef simInt (__cdecl *ptrSimIntersectPointsWithPointCloud)(simInt pointCloudHandle,simInt options,const simFloat* pts,simInt ptCnt,simFloat tolerance,simVoid* reserved);
typedef const float* (__cdecl *ptrSimGetOctreeVoxels)(simInt octreeHandle,simInt* ptCnt,simVoid* reserved);
typedef const float* (__cdecl *ptrSimGetPointCloudPoints)(simInt pointCloudHandle,simInt* ptCnt,simVoid* reserved);
typedef simInt (__cdecl *ptrSimInsertObjectIntoOctree)(simInt octreeHandle,simInt objectHandle,simInt options,const simUChar* color,simUInt tag,simVoid* reserved);
typedef simInt (__cdecl *ptrSimSubtractObjectFromOctree)(simInt octreeHandle,simInt objectHandle,simInt options,simVoid* reserved);
typedef simInt (__cdecl *ptrSimInsertObjectIntoPointCloud)(simInt pointCloudHandle,simInt objectHandle,simInt options,simFloat gridSize,const simUChar* color,simVoid* optionalValues);
typedef simInt (__cdecl *ptrSimSubtractObjectFromPointCloud)(simInt pointCloudHandle,simInt objectHandle,simInt options,simFloat tolerance,simVoid* reserved);
typedef simInt (__cdecl *ptrSimCheckOctreePointOccupancy)(simInt octreeHandle,simInt options,const simFloat* points,simInt ptCnt,simUInt* tag,simUInt64* location,simVoid* reserved);
typedef simChar* (__cdecl *ptrSimOpenTextEditor)(const simChar* initText,const simChar* xml,simVoid* reserved);
typedef simChar* (__cdecl *ptrSimPackTable)(simInt stackHandle,simInt* bufferSize);
typedef simInt (__cdecl *ptrSimUnpackTable)(simInt stackHandle,const simChar* buffer,simInt bufferSize);



typedef simInt (__cdecl *ptr_simGetContactCallbackCount)();
typedef const void* (__cdecl *ptr_simGetContactCallback)(simInt index);
typedef simVoid (__cdecl *ptr_simSetDynamicSimulationIconCode)(simVoid* object,simInt code);
typedef simVoid (__cdecl *ptr_simSetDynamicObjectFlagForVisualization)(simVoid* object,simInt flag);
typedef simInt (__cdecl *ptr_simGetObjectListSize)(simInt objType);
typedef const simVoid* (__cdecl *ptr_simGetObjectFromIndex)(simInt objType,simInt index);
typedef simInt (__cdecl *ptr_simGetObjectID)(const simVoid* object);
typedef simInt (__cdecl *ptr_simGetObjectType)(const simVoid* object);
typedef const simVoid** (__cdecl *ptr_simGetObjectChildren)(const simVoid* object,simInt* count);
typedef const simVoid* (__cdecl *ptr_simGetGeomProxyFromShape)(const simVoid* shape);
typedef const simVoid* (__cdecl *ptr_simGetParentObject)(const simVoid* object);
typedef const simVoid* (__cdecl *ptr_simGetObject)(int objID);
typedef const simVoid* (__cdecl *ptr_simGetIkGroupObject)(int ikGroupID);
typedef simInt (__cdecl *ptr_simMpHandleIkGroupObject)(const simVoid* ikGroup);
typedef simVoid (__cdecl *ptr_simGetObjectLocalTransformation)(const simVoid* object,simFloat* pos,simFloat* quat,simBool excludeFirstJointTransformation);
typedef simVoid (__cdecl *ptr_simSetObjectLocalTransformation)(simVoid* object,const simFloat* pos,const simFloat* quat);
typedef simVoid (__cdecl *ptr_simSetObjectCumulativeTransformation)(simVoid* object,const simFloat* pos,const simFloat* quat,simBool keepChildrenInPlace);
typedef simVoid (__cdecl *ptr_simGetObjectCumulativeTransformation)(const simVoid* object,simFloat* pos,simFloat* quat,simBool excludeFirstJointTransformation);
typedef simBool (__cdecl *ptr_simIsShapeDynamicallyStatic)(const simVoid* shape);
typedef simInt (__cdecl *ptr_simGetTreeDynamicProperty)(const simVoid* object);
typedef simInt (__cdecl *ptr_simGetDummyLinkType)(const simVoid* dummy,simInt* linkedDummyID);
typedef simInt (__cdecl *ptr_simGetJointMode)(const simVoid* joint);
typedef simBool (__cdecl *ptr_simIsJointInHybridOperation)(const simVoid* joint);
typedef simVoid (__cdecl *ptr_simDisableDynamicTreeForManipulation)(const simVoid* object,simBool disableFlag);
typedef simBool (__cdecl *ptr_simIsShapeDynamicallyRespondable)(const simVoid* shape);
typedef simInt (__cdecl *ptr_simGetDynamicCollisionMask)(const simVoid* shape);
typedef const simVoid* (__cdecl *ptr_simGetLastParentForLocalGlobalCollidable)(const simVoid* shape);
typedef simVoid (__cdecl *ptr_simSetShapeIsStaticAndNotRespondableButDynamicTag)(const simVoid* shape,simBool tag);
typedef simBool (__cdecl *ptr_simGetShapeIsStaticAndNotRespondableButDynamicTag)(const simVoid* shape);
typedef simVoid (__cdecl *ptr_simSetJointPosition)(const simVoid* joint,simFloat pos);
typedef simFloat (__cdecl *ptr_simGetJointPosition)(const simVoid* joint);
typedef simVoid (__cdecl *ptr_simSetDynamicMotorPositionControlTargetPosition)(const simVoid* joint,simFloat pos);
typedef simVoid (__cdecl *ptr_simGetInitialDynamicVelocity)(const simVoid* shape,simFloat* vel);
typedef simVoid (__cdecl *ptr_simSetInitialDynamicVelocity)(simVoid* shape,const simFloat* vel);
typedef simVoid (__cdecl *ptr_simGetInitialDynamicAngVelocity)(const simVoid* shape,simFloat* angularVel);
typedef simVoid (__cdecl *ptr_simSetInitialDynamicAngVelocity)(simVoid* shape,const simFloat* angularVel);
typedef simBool (__cdecl *ptr_simGetStartSleeping)(const simVoid* shape);
typedef simBool (__cdecl *ptr_simGetWasPutToSleepOnce)(const simVoid* shape);
typedef simBool (__cdecl *ptr_simGetDynamicsFullRefreshFlag)(const simVoid* object);
typedef simVoid (__cdecl *ptr_simSetDynamicsFullRefreshFlag)(const simVoid* object,simBool flag);
typedef simVoid (__cdecl *ptr_simSetGeomProxyDynamicsFullRefreshFlag)(simVoid* geomData,simBool flag);
typedef simBool (__cdecl *ptr_simGetGeomProxyDynamicsFullRefreshFlag)(const simVoid* geomData);
typedef simBool (__cdecl *ptr_simGetParentFollowsDynamic)(const simVoid* shape);
typedef simVoid (__cdecl *ptr_simSetShapeDynamicVelocity)(simVoid* shape,const simFloat* linear,const simFloat* angular);
typedef simVoid (__cdecl *ptr_simGetAdditionalForceAndTorque)(const simVoid* shape,simFloat* force,simFloat* torque);
typedef simVoid (__cdecl *ptr_simClearAdditionalForceAndTorque)(const simVoid* shape);
typedef simBool (__cdecl *ptr_simGetJointPositionInterval)(const simVoid* joint,simFloat* minValue,simFloat* rangeValue);
typedef simInt (__cdecl *ptr_simGetJointType)(const simVoid* joint);
typedef simBool (__cdecl *ptr_simIsForceSensorBroken)(const simVoid* forceSensor);
typedef simVoid (__cdecl *ptr_simGetDynamicForceSensorLocalTransformationPart2)(const simVoid* forceSensor,simFloat* pos,simFloat* quat);
typedef simBool (__cdecl *ptr_simIsDynamicMotorEnabled)(const simVoid* joint);
typedef simBool (__cdecl *ptr_simIsDynamicMotorPositionCtrlEnabled)(const simVoid* joint);
typedef simBool (__cdecl *ptr_simIsDynamicMotorTorqueModulationEnabled)(const simVoid* joint);
typedef simVoid (__cdecl *ptr_simGetMotorPid)(const simVoid* joint,simFloat* pParam,simFloat* iParam,simFloat* dParam);
typedef simFloat (__cdecl *ptr_simGetDynamicMotorTargetPosition)(const simVoid* joint);
typedef simFloat (__cdecl *ptr_simGetDynamicMotorTargetVelocity)(const simVoid* joint);
typedef simFloat (__cdecl *ptr_simGetDynamicMotorMaxForce)(const simVoid* joint);
typedef simFloat (__cdecl *ptr_simGetDynamicMotorUpperLimitVelocity)(const simVoid* joint);
typedef simVoid (__cdecl *ptr_simSetDynamicMotorReflectedPositionFromDynamicEngine)(simVoid* joint,simFloat pos);
typedef simVoid (__cdecl *ptr_simSetJointSphericalTransformation)(simVoid* joint,const simFloat* quat);
typedef simVoid (__cdecl *ptr_simAddForceSensorCumulativeForcesAndTorques)(simVoid* forceSensor,const simFloat* force,const simFloat* torque,int totalPassesCount);
typedef simVoid (__cdecl *ptr_simAddJointCumulativeForcesOrTorques)(simVoid* joint,simFloat forceOrTorque,int totalPassesCount);
typedef simVoid (__cdecl *ptr_simSetDynamicJointLocalTransformationPart2)(simVoid* joint,const simFloat* pos,const simFloat* quat);
typedef simVoid (__cdecl *ptr_simSetDynamicForceSensorLocalTransformationPart2)(simVoid* forceSensor,const simFloat* pos,const simFloat* quat);
typedef simVoid (__cdecl *ptr_simSetDynamicJointLocalTransformationPart2IsValid)(simVoid* joint,simBool valid);
typedef simVoid (__cdecl *ptr_simSetDynamicForceSensorLocalTransformationPart2IsValid)(simVoid* forceSensor,simBool valid);
typedef const simVoid* (__cdecl *ptr_simGetGeomWrapFromGeomProxy)(const simVoid* geomData);
typedef simVoid (__cdecl *ptr_simGetLocalInertiaFrame)(const simVoid* geomInfo,simFloat* pos,simFloat* quat);
typedef simInt (__cdecl *ptr_simGetPurePrimitiveType)(const simVoid* geomInfo);
typedef simBool (__cdecl *ptr_simIsGeomWrapGeometric)(const simVoid* geomInfo);
typedef simBool (__cdecl *ptr_simIsGeomWrapConvex)(const simVoid* geomInfo);
typedef simInt (__cdecl *ptr_simGetGeometricCount)(const simVoid* geomInfo);
typedef simVoid (__cdecl *ptr_simGetAllGeometrics)(const simVoid* geomInfo,simVoid** allGeometrics);
typedef simVoid (__cdecl *ptr_simGetPurePrimitiveSizes)(const simVoid* geometric,simFloat* sizes);
typedef simVoid (__cdecl *ptr_simMakeDynamicAnnouncement)(int announceType);
typedef simVoid (__cdecl *ptr_simGetVerticesLocalFrame)(const simVoid* geometric,simFloat* pos,simFloat* quat);
typedef const simFloat* (__cdecl *ptr_simGetHeightfieldData)(const simVoid* geometric,simInt* xCount,simInt* yCount,simFloat* minHeight,simFloat* maxHeight);
typedef simVoid (__cdecl *ptr_simGetCumulativeMeshes)(const simVoid* geomInfo,simFloat** vertices,simInt* verticesSize,simInt** indices,simInt* indicesSize);
typedef simFloat (__cdecl *ptr_simGetMass)(const simVoid* geomInfo);
typedef simVoid (__cdecl *ptr_simGetPrincipalMomentOfInertia)(const simVoid* geomInfo,simFloat* inertia);
typedef simVoid (__cdecl *ptr_simGetGravity)(simFloat* gravity);
typedef simInt (__cdecl *ptr_simGetTimeDiffInMs)(simInt previousTime);
typedef simBool (__cdecl *ptr_simDoEntitiesCollide)(simInt entity1ID,simInt entity2ID,simInt* cacheBuffer,simBool overrideCollidableFlagIfShape1,simBool overrideCollidableFlagIfShape2,simBool pathPlanningRoutineCalling);
typedef simBool (__cdecl *ptr_simGetDistanceBetweenEntitiesIfSmaller)(simInt entity1ID,simInt entity2ID,simFloat* distance,simFloat* ray,simInt* cacheBuffer,simBool overrideMeasurableFlagIfNonCollection1,simBool overrideMeasurableFlagIfNonCollection2,simBool pathPlanningRoutineCalling);
typedef simInt (__cdecl *ptr_simHandleJointControl)(const simVoid* joint,simInt auxV,const simInt* inputValuesInt,const simFloat* inputValuesFloat,simFloat* outputValues);
typedef simInt (__cdecl *ptr_simHandleCustomContact)(simInt objHandle1,simInt objHandle2,simInt engine,simInt* dataInt,simFloat* dataFloat);
typedef simFloat (__cdecl *ptr_simGetPureHollowScaling)(const simVoid* geometric);
typedef simInt (__cdecl *ptr_simGetJointCallbackCallOrder)(const simVoid* joint);


extern ptrSimRunSimulator simRunSimulator;
extern ptrSimGetSimulatorMessage simGetSimulatorMessage;
extern ptrSimGetMainWindow simGetMainWindow;
extern ptrSimGetLastError simGetLastError;
extern ptrSimLoadModule simLoadModule;
extern ptrSimUnloadModule simUnloadModule;
extern ptrSimSendModuleMessage simSendModuleMessage;
extern ptrSimSetBooleanParameter simSetBooleanParameter;
extern ptrSimGetBooleanParameter simGetBooleanParameter;
extern ptrSimSetBoolParameter simSetBoolParameter;
extern ptrSimGetBoolParameter simGetBoolParameter;
extern ptrSimSetIntegerParameter simSetIntegerParameter;
extern ptrSimGetIntegerParameter simGetIntegerParameter;
extern ptrSimSetInt32Parameter simSetInt32Parameter;
extern ptrSimGetInt32Parameter simGetInt32Parameter;
extern ptrSimGetUInt64Parameter simGetUInt64Parameter;
extern ptrSimSetFloatingParameter simSetFloatingParameter;
extern ptrSimGetFloatingParameter simGetFloatingParameter;
extern ptrSimSetFloatParameter simSetFloatParameter;
extern ptrSimGetFloatParameter simGetFloatParameter;
extern ptrSimSetStringParameter simSetStringParameter;
extern ptrSimGetStringParameter simGetStringParameter;
extern ptrSimGetObjectHandle simGetObjectHandle;
extern ptrSimRemoveObject simRemoveObject;
extern ptrSimRemoveModel simRemoveModel;
extern ptrSimGetObjectName simGetObjectName;
extern ptrSimGetObjects simGetObjects;
extern ptrSimSetObjectName simSetObjectName;
extern ptrSimGetCollectionHandle simGetCollectionHandle;
extern ptrSimRemoveCollection simRemoveCollection;
extern ptrSimEmptyCollection simEmptyCollection;
extern ptrSimGetCollectionName simGetCollectionName;
extern ptrSimSetCollectionName simSetCollectionName;
extern ptrSimGetObjectMatrix simGetObjectMatrix;
extern ptrSimSetObjectMatrix simSetObjectMatrix;
extern ptrSimGetObjectPosition simGetObjectPosition;
extern ptrSimSetObjectPosition simSetObjectPosition;
extern ptrSimGetObjectOrientation simGetObjectOrientation;
extern ptrSimSetObjectOrientation simSetObjectOrientation;
extern ptrSimGetJointPosition simGetJointPosition;
extern ptrSimSetJointPosition simSetJointPosition;
extern ptrSimSetJointTargetPosition simSetJointTargetPosition;
extern ptrSimGetJointTargetPosition simGetJointTargetPosition;
extern ptrSimSetJointForce simSetJointForce;
extern ptrSimGetPathPosition simGetPathPosition;
extern ptrSimSetPathPosition simSetPathPosition;
extern ptrSimGetPathLength simGetPathLength;
extern ptrSimGetJointMatrix simGetJointMatrix;
extern ptrSimSetSphericalJointMatrix simSetSphericalJointMatrix;
extern ptrSimGetJointInterval simGetJointInterval;
extern ptrSimSetJointInterval simSetJointInterval;
extern ptrSimGetObjectParent simGetObjectParent;
extern ptrSimGetObjectChild simGetObjectChild;
extern ptrSimSetObjectParent simSetObjectParent;
extern ptrSimGetObjectType simGetObjectType;
extern ptrSimGetJointType simGetJointType;
extern ptrSimBuildIdentityMatrix simBuildIdentityMatrix;
extern ptrSimCopyMatrix simCopyMatrix;
extern ptrSimBuildMatrix simBuildMatrix;
extern ptrSimGetEulerAnglesFromMatrix simGetEulerAnglesFromMatrix;
extern ptrSimInvertMatrix simInvertMatrix;
extern ptrSimMultiplyMatrices simMultiplyMatrices;
extern ptrSimInterpolateMatrices simInterpolateMatrices;
extern ptrSimTransformVector simTransformVector;
extern ptrSimReservedCommand simReservedCommand;
extern ptrSimGetSimulationTime simGetSimulationTime;
extern ptrSimGetSimulationState simGetSimulationState;
extern ptrSimGetSystemTime simGetSystemTime;
extern ptrSimGetSystemTimeInMilliseconds simGetSystemTimeInMilliseconds;
extern ptrSimGetSystemTimeInMs simGetSystemTimeInMs;
extern ptrSimLoadScene simLoadScene;
extern ptrSimCloseScene simCloseScene;
extern ptrSimSaveScene simSaveScene;
extern ptrSimLoadModel simLoadModel;
extern ptrSimSaveModel simSaveModel;
extern ptrSimLoadUI simLoadUI;
extern ptrSimSaveUI simSaveUI;
extern ptrSimAddStatusbarMessage simAddStatusbarMessage;
extern ptrSimAddModuleMenuEntry simAddModuleMenuEntry;
extern ptrSimSetModuleMenuItemState simSetModuleMenuItemState;
extern ptrSimDoesFileExist simDoesFileExist;
extern ptrSimIsObjectInSelection simIsObjectInSelection;
extern ptrSimAddObjectToSelection simAddObjectToSelection;
extern ptrSimRemoveObjectFromSelection simRemoveObjectFromSelection;
extern ptrSimGetObjectSelectionSize simGetObjectSelectionSize;
extern ptrSimGetObjectLastSelection simGetObjectLastSelection;
extern ptrSimGetObjectSelection simGetObjectSelection;
extern ptrSimHandleCollision simHandleCollision;
extern ptrSimReadCollision simReadCollision;
extern ptrSimHandleDistance simHandleDistance;
extern ptrSimReadDistance simReadDistance;
extern ptrSimHandleProximitySensor simHandleProximitySensor;
extern ptrSimReadProximitySensor simReadProximitySensor;
extern ptrSimHandleMill simHandleMill;
extern ptrSimHandleIkGroup simHandleIkGroup;
extern ptrSimCheckIkGroup simCheckIkGroup;
extern ptrSimHandleDynamics simHandleDynamics;
extern ptrSimGetMechanismHandle simGetMechanismHandle;
extern ptrSimHandleMechanism simHandleMechanism;
extern ptrSimGetScriptHandle simGetScriptHandle;
extern ptrSimSetScriptText simSetScriptText;
extern ptrSimGetScriptText simGetScriptText;
extern ptrSimGetScriptProperty simGetScriptProperty;
extern ptrSimAssociateScriptWithObject simAssociateScriptWithObject;
extern ptrSimGetScript simGetScript;
extern ptrSimGetScriptAssociatedWithObject simGetScriptAssociatedWithObject;
extern ptrSimGetCustomizationScriptAssociatedWithObject simGetCustomizationScriptAssociatedWithObject;
extern ptrSimGetObjectAssociatedWithScript simGetObjectAssociatedWithScript;
extern ptrSimGetScriptName simGetScriptName;
extern ptrSimHandleMainScript simHandleMainScript;
extern ptrSimHandleGeneralCallbackScript simHandleGeneralCallbackScript;
extern ptrSimResetScript simResetScript;
extern ptrSimAddScript simAddScript;
extern ptrSimRemoveScript simRemoveScript;
extern ptrSimRefreshDialogs simRefreshDialogs;
extern ptrSimGetCollisionHandle simGetCollisionHandle;
extern ptrSimGetDistanceHandle simGetDistanceHandle;
extern ptrSimGetIkGroupHandle simGetIkGroupHandle;
extern ptrSimResetCollision simResetCollision;
extern ptrSimResetDistance simResetDistance;
extern ptrSimResetProximitySensor simResetProximitySensor;
extern ptrSimResetMill simResetMill;
extern ptrSimCheckProximitySensor simCheckProximitySensor;
extern ptrSimCheckProximitySensorEx simCheckProximitySensorEx;
extern ptrSimCheckProximitySensorEx2 simCheckProximitySensorEx2;
extern ptrSimAddSceneCustomData simAddSceneCustomData;
extern ptrSimGetSceneCustomDataLength simGetSceneCustomDataLength;
extern ptrSimGetSceneCustomData simGetSceneCustomData;
extern ptrSimAddObjectCustomData simAddObjectCustomData;
extern ptrSimGetObjectCustomDataLength simGetObjectCustomDataLength;
extern ptrSimGetObjectCustomData simGetObjectCustomData;
extern ptrSimCreateBuffer simCreateBuffer;
extern ptrSimReleaseBuffer simReleaseBuffer;
extern ptrSimCheckCollision simCheckCollision;
extern ptrSimCheckCollisionEx simCheckCollisionEx;
extern ptrSimCheckDistance simCheckDistance;
extern ptrSimGetObjectConfiguration simGetObjectConfiguration;
extern ptrSimSetObjectConfiguration simSetObjectConfiguration;
extern ptrSimGetConfigurationTree simGetConfigurationTree;
extern ptrSimSetConfigurationTree simSetConfigurationTree;
extern ptrSimSetSimulationTimeStep simSetSimulationTimeStep;
extern ptrSimGetSimulationTimeStep simGetSimulationTimeStep;
extern ptrSimGetRealTimeSimulation simGetRealTimeSimulation;
extern ptrSimIsRealTimeSimulationStepNeeded simIsRealTimeSimulationStepNeeded;
extern ptrSimAdjustRealTimeTimer simAdjustRealTimeTimer;
extern ptrSimGetSimulationPassesPerRenderingPass simGetSimulationPassesPerRenderingPass;
extern ptrSimAdvanceSimulationByOneStep simAdvanceSimulationByOneStep;
extern ptrSimStartSimulation simStartSimulation;
extern ptrSimStopSimulation simStopSimulation;
extern ptrSimPauseSimulation simPauseSimulation;
extern ptrSimBroadcastMessage simBroadcastMessage;
extern ptrSimGetModuleName simGetModuleName;
extern ptrSimGetScriptSimulationParameter simGetScriptSimulationParameter;
extern ptrSimSetScriptSimulationParameter simSetScriptSimulationParameter;
extern ptrSimFloatingViewAdd simFloatingViewAdd;
extern ptrSimFloatingViewRemove simFloatingViewRemove;
extern ptrSimAdjustView simAdjustView;
extern ptrSimSetLastError simSetLastError;
extern ptrSimHandleGraph simHandleGraph;
extern ptrSimResetGraph simResetGraph;
extern ptrSimSetNavigationMode simSetNavigationMode;
extern ptrSimGetNavigationMode simGetNavigationMode;
extern ptrSimSetPage simSetPage;
extern ptrSimGetPage simGetPage;
extern ptrSimDisplayDialog simDisplayDialog;
extern ptrSimGetDialogResult simGetDialogResult;
extern ptrSimGetDialogInput simGetDialogInput;
extern ptrSimEndDialog simEndDialog;
extern ptrSimRegisterCustomLuaFunction simRegisterCustomLuaFunction;
extern ptrSimRegisterScriptCallbackFunction simRegisterScriptCallbackFunction;
extern ptrSimRegisterCustomLuaVariable simRegisterCustomLuaVariable;
extern ptrSimRegisterScriptVariable simRegisterScriptVariable;
extern ptrSimSetJointTargetVelocity simSetJointTargetVelocity;
extern ptrSimGetJointTargetVelocity simGetJointTargetVelocity;
extern ptrSimSetPathTargetNominalVelocity simSetPathTargetNominalVelocity;
extern ptrSimGetScriptRawBuffer simGetScriptRawBuffer;
extern ptrSimSetScriptRawBuffer simSetScriptRawBuffer;
extern ptrSimReleaseScriptRawBuffer simReleaseScriptRawBuffer;
extern ptrSimCopyPasteObjects simCopyPasteObjects;
extern ptrSimScaleSelectedObjects simScaleSelectedObjects;
extern ptrSimScaleObjects simScaleObjects;
extern ptrSimDeleteSelectedObjects simDeleteSelectedObjects;
extern ptrSimGetObjectUniqueIdentifier simGetObjectUniqueIdentifier;
extern ptrSimGetNameSuffix simGetNameSuffix;
extern ptrSimSendData simSendData;
extern ptrSimReceiveData simReceiveData;
extern ptrSimSetGraphUserData simSetGraphUserData;
extern ptrSimSetNameSuffix simSetNameSuffix;
extern ptrSimAddDrawingObject simAddDrawingObject;
extern ptrSimRemoveDrawingObject simRemoveDrawingObject;
extern ptrSimAddDrawingObjectItem simAddDrawingObjectItem;
extern ptrSimAddParticleObject simAddParticleObject;
extern ptrSimRemoveParticleObject simRemoveParticleObject;
extern ptrSimAddParticleObjectItem simAddParticleObjectItem;
extern ptrSimGetObjectSizeFactor simGetObjectSizeFactor;
extern ptrSimAnnounceSceneContentChange simAnnounceSceneContentChange;
extern ptrSimResetMilling simResetMilling;
extern ptrSimApplyMilling simApplyMilling;
extern ptrSimSetIntegerSignal simSetIntegerSignal;
extern ptrSimGetIntegerSignal simGetIntegerSignal;
extern ptrSimClearIntegerSignal simClearIntegerSignal;
extern ptrSimSetFloatSignal simSetFloatSignal;
extern ptrSimGetFloatSignal simGetFloatSignal;
extern ptrSimClearFloatSignal simClearFloatSignal;
extern ptrSimSetStringSignal simSetStringSignal;
extern ptrSimGetStringSignal simGetStringSignal;
extern ptrSimClearStringSignal simClearStringSignal;
extern ptrSimGetSignalName simGetSignalName;
extern ptrSimSetObjectProperty simSetObjectProperty;
extern ptrSimGetObjectProperty simGetObjectProperty;
extern ptrSimSetObjectSpecialProperty simSetObjectSpecialProperty;
extern ptrSimGetObjectSpecialProperty simGetObjectSpecialProperty;
extern ptrSimGetPositionOnPath simGetPositionOnPath;
extern ptrSimGetDataOnPath simGetDataOnPath;
extern ptrSimGetOrientationOnPath simGetOrientationOnPath;
extern ptrSimGetClosestPositionOnPath simGetClosestPositionOnPath;
extern ptrSimReadForceSensor simReadForceSensor;
extern ptrSimBreakForceSensor simBreakForceSensor;
extern ptrSimGetShapeVertex simGetShapeVertex;
extern ptrSimGetShapeTriangle simGetShapeTriangle;
extern ptrSimSetLightParameters simSetLightParameters;
extern ptrSimGetLightParameters simGetLightParameters;
extern ptrSimHandleVarious simHandleVarious;
extern ptrSimGetVelocity simGetVelocity;
extern ptrSimGetObjectVelocity simGetObjectVelocity;
extern ptrSimAddForceAndTorque simAddForceAndTorque;
extern ptrSimAddForce simAddForce;
extern ptrSimSetExplicitHandling simSetExplicitHandling;
extern ptrSimGetExplicitHandling simGetExplicitHandling;
extern ptrSimGetLinkDummy simGetLinkDummy;
extern ptrSimSetLinkDummy simSetLinkDummy;
extern ptrSimSetModelProperty simSetModelProperty;
extern ptrSimGetModelProperty simGetModelProperty;
extern ptrSimSetShapeColor simSetShapeColor;
extern ptrSimGetShapeColor simGetShapeColor;
extern ptrSimResetDynamicObject simResetDynamicObject;
extern ptrSimSetJointMode simSetJointMode;
extern ptrSimGetJointMode simGetJointMode;
extern ptrSimSerialOpen simSerialOpen;
extern ptrSimSerialClose simSerialClose;
extern ptrSimSerialSend simSerialSend;
extern ptrSimSerialRead simSerialRead;
extern ptrSimSerialCheck simSerialCheck;
extern ptrSimGetContactInfo simGetContactInfo;
extern ptrSimSetThreadIsFree simSetThreadIsFree;
extern ptrSimTubeOpen simTubeOpen;
extern ptrSimTubeClose simTubeClose;
extern ptrSimTubeWrite simTubeWrite;
extern ptrSimTubeRead simTubeRead;
extern ptrSimTubeStatus simTubeStatus;
extern ptrSimAuxiliaryConsoleOpen simAuxiliaryConsoleOpen;
extern ptrSimAuxiliaryConsoleClose simAuxiliaryConsoleClose;
extern ptrSimAuxiliaryConsoleShow simAuxiliaryConsoleShow;
extern ptrSimAuxiliaryConsolePrint simAuxiliaryConsolePrint;
extern ptrSimImportShape simImportShape;
extern ptrSimImportMesh simImportMesh;
extern ptrSimExportMesh simExportMesh;
extern ptrSimCreateMeshShape simCreateMeshShape;
extern ptrSimCreatePureShape simCreatePureShape;
extern ptrSimCreateHeightfieldShape simCreateHeightfieldShape;
extern ptrSimGetShapeMesh simGetShapeMesh;
extern ptrSimAddBanner simAddBanner;
extern ptrSimRemoveBanner simRemoveBanner;
extern ptrSimCreateJoint simCreateJoint;
extern ptrSimCreateDummy simCreateDummy;
extern ptrSimCreateForceSensor simCreateForceSensor;
extern ptrSimCreateVisionSensor simCreateVisionSensor;
extern ptrSimCreateProximitySensor simCreateProximitySensor;
extern ptrSimCreatePath simCreatePath;
extern ptrSimInsertPathCtrlPoints simInsertPathCtrlPoints;
extern ptrSimCutPathCtrlPoints simCutPathCtrlPoints;
extern ptrSimRegisterContactCallback simRegisterContactCallback;
extern ptrSimGetObjectIntParameter simGetObjectIntParameter;
extern ptrSimSetObjectIntParameter simSetObjectIntParameter;
extern ptrSimGetObjectInt32Parameter simGetObjectInt32Parameter;
extern ptrSimSetObjectInt32Parameter simSetObjectInt32Parameter;
extern ptrSimGetObjectFloatParameter simGetObjectFloatParameter;
extern ptrSimSetObjectFloatParameter simSetObjectFloatParameter;
extern ptrSimGetObjectStringParameter simGetObjectStringParameter;
extern ptrSimSetObjectStringParameter simSetObjectStringParameter;
extern ptrSimSetSimulationPassesPerRenderingPass simSetSimulationPassesPerRenderingPass;
extern ptrSimGetRotationAxis simGetRotationAxis;
extern ptrSimRotateAroundAxis simRotateAroundAxis;
extern ptrSimGetJointForce simGetJointForce;
extern ptrSimSetArrayParameter simSetArrayParameter;
extern ptrSimGetArrayParameter simGetArrayParameter;
extern ptrSimSetIkGroupProperties simSetIkGroupProperties;
extern ptrSimSetIkElementProperties simSetIkElementProperties;
extern ptrSimCameraFitToView simCameraFitToView;
extern ptrSimPersistentDataWrite simPersistentDataWrite;
extern ptrSimPersistentDataRead simPersistentDataRead;
extern ptrSimIsHandleValid simIsHandleValid;
extern ptrSimHandleVisionSensor simHandleVisionSensor;
extern ptrSimReadVisionSensor simReadVisionSensor;
extern ptrSimResetVisionSensor simResetVisionSensor;
extern ptrSimCheckVisionSensor simCheckVisionSensor;
extern ptrSimCheckVisionSensorEx simCheckVisionSensorEx;
extern ptrSimGetVisionSensorResolution simGetVisionSensorResolution;
extern ptrSimGetVisionSensorImage simGetVisionSensorImage;
extern ptrSimGetVisionSensorCharImage simGetVisionSensorCharImage;
extern ptrSimSetVisionSensorImage simSetVisionSensorImage;
extern ptrSimSetVisionSensorCharImage simSetVisionSensorCharImage;
extern ptrSimGetVisionSensorDepthBuffer simGetVisionSensorDepthBuffer;
extern ptrSimCreateUI simCreateUI;
extern ptrSimCreateUIButton simCreateUIButton;
extern ptrSimGetUIHandle simGetUIHandle;
extern ptrSimGetUIProperty simGetUIProperty;
extern ptrSimGetUIEventButton simGetUIEventButton;
extern ptrSimSetUIProperty simSetUIProperty;
extern ptrSimGetUIButtonProperty simGetUIButtonProperty;
extern ptrSimSetUIButtonProperty simSetUIButtonProperty;
extern ptrSimGetUIButtonSize simGetUIButtonSize;
extern ptrSimSetUIButtonLabel simSetUIButtonLabel;
extern ptrSimGetUIButtonLabel simGetUIButtonLabel;
extern ptrSimSetUISlider simSetUISlider;
extern ptrSimGetUISlider simGetUISlider;
extern ptrSimSetUIButtonColor simSetUIButtonColor;
extern ptrSimSetUIButtonTexture simSetUIButtonTexture;
extern ptrSimCreateUIButtonArray simCreateUIButtonArray;
extern ptrSimSetUIButtonArrayColor simSetUIButtonArrayColor;
extern ptrSimDeleteUIButtonArray simDeleteUIButtonArray;
extern ptrSimRemoveUI simRemoveUI;
extern ptrSimSetUIPosition simSetUIPosition;
extern ptrSimGetUIPosition simGetUIPosition;
extern ptrSimGetObjectQuaternion simGetObjectQuaternion;
extern ptrSimSetObjectQuaternion simSetObjectQuaternion;
extern ptrSimRMLPosition simRMLPosition;
extern ptrSimRMLVelocity simRMLVelocity;
extern ptrSimRMLPos simRMLPos;
extern ptrSimRMLVel simRMLVel;
extern ptrSimRMLStep simRMLStep;
extern ptrSimRMLRemove simRMLRemove;
extern ptrSimBuildMatrixQ simBuildMatrixQ;
extern ptrSimGetQuaternionFromMatrix simGetQuaternionFromMatrix;
extern ptrSimFileDialog simFileDialog;
extern ptrSimMsgBox simMsgBox;
extern ptrSimSetShapeMassAndInertia simSetShapeMassAndInertia;
extern ptrSimGetShapeMassAndInertia simGetShapeMassAndInertia;
extern ptrSimGroupShapes simGroupShapes;
extern ptrSimUngroupShape simUngroupShape;
extern ptrSimConvexDecompose simConvexDecompose;
extern ptrSimGetIkGroupMatrix simGetIkGroupMatrix;
extern ptrSimAddGhost simAddGhost;
extern ptrSimModifyGhost simModifyGhost;
extern ptrSimQuitSimulator simQuitSimulator;
extern ptrSimGetThreadId simGetThreadId;
extern ptrSimLockResources simLockResources;
extern ptrSimUnlockResources simUnlockResources;
extern ptrSimEnableEventCallback simEnableEventCallback;
extern ptrSimGetMaterialId simGetMaterialId;
extern ptrSimSetShapeMaterial simSetShapeMaterial;
extern ptrSimGetShapeMaterial simGetShapeMaterial;
extern ptrSimGetTextureId simGetTextureId;
extern ptrSimReadTexture simReadTexture;
extern ptrSimWriteTexture simWriteTexture;
extern ptrSimCreateTexture simCreateTexture;
extern ptrSimWriteCustomDataBlock simWriteCustomDataBlock;
extern ptrSimReadCustomDataBlock simReadCustomDataBlock;
extern ptrSimAddPointCloud simAddPointCloud;
extern ptrSimModifyPointCloud simModifyPointCloud;
extern ptrSimGetShapeGeomInfo simGetShapeGeomInfo;
extern ptrSimGetObjectsInTree simGetObjectsInTree;
extern ptrSimSetObjectSizeValues simSetObjectSizeValues;
extern ptrSimGetObjectSizeValues simGetObjectSizeValues;
extern ptrSimScaleObject simScaleObject;
extern ptrSimSetShapeTexture simSetShapeTexture;
extern ptrSimGetShapeTextureId simGetShapeTextureId;
extern ptrSimGetCollectionObjects simGetCollectionObjects;
extern ptrSimHandleCustomizationScripts simHandleCustomizationScripts;
extern ptrSimSetScriptAttribute simSetScriptAttribute;
extern ptrSimGetScriptAttribute simGetScriptAttribute;
extern ptrSimReorientShapeBoundingBox simReorientShapeBoundingBox;
extern ptrSimSwitchThread simSwitchThread;
extern ptrSimCreateIkGroup simCreateIkGroup;
extern ptrSimRemoveIkGroup simRemoveIkGroup;
extern ptrSimCreateIkElement simCreateIkElement;
extern ptrSimCreateCollection simCreateCollection;
extern ptrSimAddObjectToCollection simAddObjectToCollection;
extern ptrSimSaveImage simSaveImage;
extern ptrSimLoadImage simLoadImage;
extern ptrSimGetScaledImage simGetScaledImage;
extern ptrSimTransformImage simTransformImage;
extern ptrSimGetQHull simGetQHull;
extern ptrSimGetDecimatedMesh simGetDecimatedMesh;
extern ptrSimExportIk simExportIk;
extern ptrSimCallScriptFunction simCallScriptFunction;
extern ptrSimCallScriptFunctionEx simCallScriptFunctionEx;
extern ptrSimComputeJacobian simComputeJacobian;
extern ptrSimGetConfigForTipPose simGetConfigForTipPose;
extern ptrSimGenerateIkPath simGenerateIkPath;
extern ptrSimGetExtensionString simGetExtensionString;
extern ptrSimComputeMassAndInertia simComputeMassAndInertia;
extern ptrSimCreateStack simCreateStack;
extern ptrSimReleaseStack simReleaseStack;
extern ptrSimCopyStack simCopyStack;
extern ptrSimPushNullOntoStack simPushNullOntoStack;
extern ptrSimPushBoolOntoStack simPushBoolOntoStack;
extern ptrSimPushInt32OntoStack simPushInt32OntoStack;
extern ptrSimPushFloatOntoStack simPushFloatOntoStack;
extern ptrSimPushDoubleOntoStack simPushDoubleOntoStack;
extern ptrSimPushStringOntoStack simPushStringOntoStack;
extern ptrSimPushUInt8TableOntoStack simPushUInt8TableOntoStack;
extern ptrSimPushInt32TableOntoStack simPushInt32TableOntoStack;
extern ptrSimPushFloatTableOntoStack simPushFloatTableOntoStack;
extern ptrSimPushDoubleTableOntoStack simPushDoubleTableOntoStack;
extern ptrSimPushTableOntoStack simPushTableOntoStack;
extern ptrSimInsertDataIntoStackTable simInsertDataIntoStackTable;
extern ptrSimGetStackSize simGetStackSize;
extern ptrSimPopStackItem simPopStackItem;
extern ptrSimMoveStackItemToTop simMoveStackItemToTop;
extern ptrSimIsStackValueNull simIsStackValueNull;
extern ptrSimGetStackBoolValue simGetStackBoolValue;
extern ptrSimGetStackInt32Value simGetStackInt32Value;
extern ptrSimGetStackFloatValue simGetStackFloatValue;
extern ptrSimGetStackDoubleValue simGetStackDoubleValue;
extern ptrSimGetStackStringValue simGetStackStringValue;
extern ptrSimGetStackTableInfo simGetStackTableInfo;
extern ptrSimGetStackUInt8Table simGetStackUInt8Table;
extern ptrSimGetStackInt32Table simGetStackInt32Table;
extern ptrSimGetStackFloatTable simGetStackFloatTable;
extern ptrSimGetStackDoubleTable simGetStackDoubleTable;
extern ptrSimUnfoldStackTable simUnfoldStackTable;
extern ptrSimDebugStack simDebugStack;
extern ptrSimSetScriptVariable simSetScriptVariable;
extern ptrSimGetEngineFloatParameter simGetEngineFloatParameter;
extern ptrSimGetEngineInt32Parameter simGetEngineInt32Parameter;
extern ptrSimGetEngineBoolParameter simGetEngineBoolParameter;
extern ptrSimSetEngineFloatParameter simSetEngineFloatParameter;
extern ptrSimSetEngineInt32Parameter simSetEngineInt32Parameter;
extern ptrSimSetEngineBoolParameter simSetEngineBoolParameter;
extern ptrSimCreateOctree simCreateOctree;
extern ptrSimCreatePointCloud simCreatePointCloud;
extern ptrSimSetPointCloudOptions simSetPointCloudOptions;
extern ptrSimGetPointCloudOptions simGetPointCloudOptions;
extern ptrSimInsertVoxelsIntoOctree simInsertVoxelsIntoOctree;
extern ptrSimRemoveVoxelsFromOctree simRemoveVoxelsFromOctree;
extern ptrSimInsertPointsIntoPointCloud simInsertPointsIntoPointCloud;
extern ptrSimRemovePointsFromPointCloud simRemovePointsFromPointCloud;
extern ptrSimIntersectPointsWithPointCloud simIntersectPointsWithPointCloud;
extern ptrSimGetOctreeVoxels simGetOctreeVoxels;
extern ptrSimGetPointCloudPoints simGetPointCloudPoints;
extern ptrSimInsertObjectIntoOctree simInsertObjectIntoOctree;
extern ptrSimSubtractObjectFromOctree simSubtractObjectFromOctree;
extern ptrSimInsertObjectIntoPointCloud simInsertObjectIntoPointCloud;
extern ptrSimSubtractObjectFromPointCloud simSubtractObjectFromPointCloud;
extern ptrSimCheckOctreePointOccupancy simCheckOctreePointOccupancy;
extern ptrSimOpenTextEditor simOpenTextEditor;
extern ptrSimPackTable simPackTable;
extern ptrSimUnpackTable simUnpackTable;


extern ptr_simGetContactCallbackCount _simGetContactCallbackCount;
extern ptr_simGetContactCallback _simGetContactCallback;
extern ptr_simSetDynamicSimulationIconCode _simSetDynamicSimulationIconCode;
extern ptr_simSetDynamicObjectFlagForVisualization _simSetDynamicObjectFlagForVisualization;
extern ptr_simGetObjectListSize _simGetObjectListSize;
extern ptr_simGetObjectFromIndex _simGetObjectFromIndex;
extern ptr_simGetObjectID _simGetObjectID;
extern ptr_simGetObjectType _simGetObjectType;
extern ptr_simGetObjectChildren _simGetObjectChildren;
extern ptr_simGetGeomProxyFromShape _simGetGeomProxyFromShape;
extern ptr_simGetParentObject _simGetParentObject;
extern ptr_simGetObject _simGetObject;
extern ptr_simGetIkGroupObject _simGetIkGroupObject;
extern ptr_simMpHandleIkGroupObject _simMpHandleIkGroupObject;
extern ptr_simGetObjectLocalTransformation _simGetObjectLocalTransformation;
extern ptr_simSetObjectLocalTransformation _simSetObjectLocalTransformation;
extern ptr_simSetObjectCumulativeTransformation _simSetObjectCumulativeTransformation;
extern ptr_simGetObjectCumulativeTransformation _simGetObjectCumulativeTransformation;
extern ptr_simIsShapeDynamicallyStatic _simIsShapeDynamicallyStatic;
extern ptr_simGetTreeDynamicProperty _simGetTreeDynamicProperty;
extern ptr_simGetDummyLinkType _simGetDummyLinkType;
extern ptr_simGetJointMode _simGetJointMode;
extern ptr_simIsJointInHybridOperation _simIsJointInHybridOperation;
extern ptr_simDisableDynamicTreeForManipulation _simDisableDynamicTreeForManipulation;
extern ptr_simIsShapeDynamicallyRespondable _simIsShapeDynamicallyRespondable;
extern ptr_simGetDynamicCollisionMask _simGetDynamicCollisionMask;
extern ptr_simGetLastParentForLocalGlobalCollidable _simGetLastParentForLocalGlobalCollidable;
extern ptr_simSetShapeIsStaticAndNotRespondableButDynamicTag _simSetShapeIsStaticAndNotRespondableButDynamicTag;
extern ptr_simGetShapeIsStaticAndNotRespondableButDynamicTag _simGetShapeIsStaticAndNotRespondableButDynamicTag;
extern ptr_simSetJointPosition _simSetJointPosition;
extern ptr_simGetJointPosition _simGetJointPosition;
extern ptr_simSetDynamicMotorPositionControlTargetPosition _simSetDynamicMotorPositionControlTargetPosition;
extern ptr_simGetInitialDynamicVelocity _simGetInitialDynamicVelocity;
extern ptr_simSetInitialDynamicVelocity _simSetInitialDynamicVelocity;
extern ptr_simGetInitialDynamicAngVelocity _simGetInitialDynamicAngVelocity;
extern ptr_simSetInitialDynamicAngVelocity _simSetInitialDynamicAngVelocity;
extern ptr_simGetStartSleeping _simGetStartSleeping;
extern ptr_simGetWasPutToSleepOnce _simGetWasPutToSleepOnce;
extern ptr_simGetDynamicsFullRefreshFlag _simGetDynamicsFullRefreshFlag;
extern ptr_simSetDynamicsFullRefreshFlag _simSetDynamicsFullRefreshFlag;
extern ptr_simSetGeomProxyDynamicsFullRefreshFlag _simSetGeomProxyDynamicsFullRefreshFlag;
extern ptr_simGetGeomProxyDynamicsFullRefreshFlag _simGetGeomProxyDynamicsFullRefreshFlag;
extern ptr_simGetParentFollowsDynamic _simGetParentFollowsDynamic;
extern ptr_simSetShapeDynamicVelocity _simSetShapeDynamicVelocity;
extern ptr_simGetAdditionalForceAndTorque _simGetAdditionalForceAndTorque;
extern ptr_simClearAdditionalForceAndTorque _simClearAdditionalForceAndTorque;
extern ptr_simGetJointPositionInterval _simGetJointPositionInterval;
extern ptr_simGetJointType _simGetJointType;
extern ptr_simIsForceSensorBroken _simIsForceSensorBroken;
extern ptr_simGetDynamicForceSensorLocalTransformationPart2 _simGetDynamicForceSensorLocalTransformationPart2;
extern ptr_simIsDynamicMotorEnabled _simIsDynamicMotorEnabled;
extern ptr_simIsDynamicMotorPositionCtrlEnabled _simIsDynamicMotorPositionCtrlEnabled;
extern ptr_simIsDynamicMotorTorqueModulationEnabled _simIsDynamicMotorTorqueModulationEnabled;
extern ptr_simGetMotorPid _simGetMotorPid;
extern ptr_simGetDynamicMotorTargetPosition _simGetDynamicMotorTargetPosition;
extern ptr_simGetDynamicMotorTargetVelocity _simGetDynamicMotorTargetVelocity;
extern ptr_simGetDynamicMotorMaxForce _simGetDynamicMotorMaxForce;
extern ptr_simGetDynamicMotorUpperLimitVelocity _simGetDynamicMotorUpperLimitVelocity;
extern ptr_simSetDynamicMotorReflectedPositionFromDynamicEngine _simSetDynamicMotorReflectedPositionFromDynamicEngine;
extern ptr_simSetJointSphericalTransformation _simSetJointSphericalTransformation;
extern ptr_simAddForceSensorCumulativeForcesAndTorques _simAddForceSensorCumulativeForcesAndTorques;
extern ptr_simAddJointCumulativeForcesOrTorques _simAddJointCumulativeForcesOrTorques;
extern ptr_simSetDynamicJointLocalTransformationPart2 _simSetDynamicJointLocalTransformationPart2;
extern ptr_simSetDynamicForceSensorLocalTransformationPart2 _simSetDynamicForceSensorLocalTransformationPart2;
extern ptr_simSetDynamicJointLocalTransformationPart2IsValid _simSetDynamicJointLocalTransformationPart2IsValid;
extern ptr_simSetDynamicForceSensorLocalTransformationPart2IsValid _simSetDynamicForceSensorLocalTransformationPart2IsValid;
extern ptr_simGetGeomWrapFromGeomProxy _simGetGeomWrapFromGeomProxy;
extern ptr_simGetLocalInertiaFrame _simGetLocalInertiaFrame;
extern ptr_simGetPurePrimitiveType _simGetPurePrimitiveType;
extern ptr_simIsGeomWrapGeometric _simIsGeomWrapGeometric;
extern ptr_simIsGeomWrapConvex _simIsGeomWrapConvex;
extern ptr_simGetGeometricCount _simGetGeometricCount;
extern ptr_simGetAllGeometrics _simGetAllGeometrics;
extern ptr_simGetPurePrimitiveSizes _simGetPurePrimitiveSizes;
extern ptr_simMakeDynamicAnnouncement _simMakeDynamicAnnouncement;
extern ptr_simGetVerticesLocalFrame _simGetVerticesLocalFrame;
extern ptr_simGetHeightfieldData _simGetHeightfieldData;
extern ptr_simGetCumulativeMeshes _simGetCumulativeMeshes;
extern ptr_simGetMass _simGetMass;
extern ptr_simGetPrincipalMomentOfInertia _simGetPrincipalMomentOfInertia;
extern ptr_simGetGravity _simGetGravity;
extern ptr_simGetTimeDiffInMs _simGetTimeDiffInMs;
extern ptr_simDoEntitiesCollide _simDoEntitiesCollide;
extern ptr_simGetDistanceBetweenEntitiesIfSmaller _simGetDistanceBetweenEntitiesIfSmaller;
extern ptr_simHandleJointControl _simHandleJointControl;
extern ptr_simHandleCustomContact _simHandleCustomContact;
extern ptr_simGetPureHollowScaling _simGetPureHollowScaling;
extern ptr_simGetJointCallbackCallOrder _simGetJointCallbackCallOrder;



// Deprecated begin
typedef simInt (__cdecl *ptrSimSerialPortOpen)(simInt portNumber,simInt baudRate,simVoid* reserved1,simVoid* reserved2);
typedef simInt (__cdecl *ptrSimSerialPortClose)(simInt portNumber);
typedef simInt (__cdecl *ptrSimSerialPortSend)(simInt portNumber,const simChar* data,simInt dataLength);
typedef simInt (__cdecl *ptrSimSerialPortRead)(simInt portNumber,simChar* buffer,simInt dataLengthToRead);
typedef simInt (__cdecl *ptrSimJointGetForce)(simInt jointHandle,simFloat* forceOrTorque);
typedef simInt (__cdecl *ptrSimGetPathPlanningHandle)(const simChar* pathPlanningObjectName);
typedef simInt (__cdecl *ptrSimGetMotionPlanningHandle)(const simChar* motionPlanningObjectName);
typedef simInt (__cdecl *ptrSimGetMpConfigForTipPose)(simInt motionPlanningObjectHandle,simInt options,simFloat closeNodesDistance,simInt trialCount,const simFloat* tipPose,simInt maxTimeInMs,simFloat* outputJointPositions,const simFloat* referenceConfigs,simInt referenceConfigCount,const simFloat* jointWeights,const simInt* jointBehaviour,simInt correctionPasses);
typedef simFloat* (__cdecl *ptrSimFindMpPath)(simInt motionPlanningObjectHandle,const simFloat* startConfig,const simFloat* goalConfig,simInt options,simFloat stepSize,simInt* outputConfigsCnt,simInt maxTimeInMs,simFloat* reserved,const simInt* auxIntParams,const simFloat* auxFloatParams);
typedef simFloat* (__cdecl *ptrSimSimplifyMpPath)(simInt motionPlanningObjectHandle,const simFloat* pathBuffer,simInt configCnt,simInt options,simFloat stepSize,simInt increment,simInt* outputConfigsCnt,simInt maxTimeInMs,simFloat* reserved,const simInt* auxIntParams,const simFloat* auxFloatParams);
typedef simFloat* (__cdecl *ptrSimFindIkPath)(simInt motionPlanningObjectHandle,const simFloat* startConfig,const simFloat* goalPose,simInt options,simFloat stepSize,simInt* outputConfigsCnt,simFloat* reserved,const simInt* auxIntParams,const simFloat* auxFloatParams);
typedef simFloat* (__cdecl *ptrSimGetMpConfigTransition)(simInt motionPlanningObjectHandle,const simFloat* startConfig,const simFloat* goalConfig,simInt options,const simInt* select,simFloat calcStepSize,simFloat maxOutStepSize,simInt wayPointCnt,const simFloat* wayPoints,simInt* outputConfigsCnt,const simInt* auxIntParams,const simFloat* auxFloatParams);
typedef simInt (__cdecl *ptrSimCreateMotionPlanning)(simInt jointCnt,const simInt* jointHandles,const simInt* jointRangeSubdivisions,const simFloat* jointMetricWeights,simInt options,const simInt* intParams,const simFloat* floatParams,const simVoid* reserved);
typedef simInt (__cdecl *ptrSimRemoveMotionPlanning)(simInt motionPlanningHandle);
typedef simInt (__cdecl *ptrSimSearchPath)(simInt pathPlanningObjectHandle,simFloat maximumSearchTime);
typedef simInt (__cdecl *ptrSimInitializePathSearch)(simInt pathPlanningObjectHandle,simFloat maximumSearchTime,simFloat searchTimeStep);
typedef simInt (__cdecl *ptrSimPerformPathSearchStep)(simInt temporaryPathSearchObject,simBool abortSearch);
typedef simInt (__cdecl *ptrSimLockInterface)(simBool locked);
typedef simInt (__cdecl *ptrSimCopyPasteSelectedObjects)();
typedef simInt (__cdecl *ptrSimResetPath)(simInt pathHandle);
typedef simInt (__cdecl *ptrSimHandlePath)(simInt pathHandle,simFloat deltaTime);
typedef simInt (__cdecl *ptrSimResetJoint)(simInt jointHandle);
typedef simInt (__cdecl *ptrSimHandleJoint)(simInt jointHandle,simFloat deltaTime);
typedef simInt (__cdecl *ptrSimAppendScriptArrayEntry)(const simChar* reservedSetToNull,simInt scriptHandleOrType,const simChar* arrayNameAtScriptName,const simChar* keyName,const simChar* data,const simInt* what);
typedef simInt (__cdecl *ptrSimClearScriptVariable)(const simChar* reservedSetToNull,simInt scriptHandleOrType,const simChar* variableNameAtScriptName);
typedef simVoid (__cdecl *ptr_simGetJointOdeParameters)(const simVoid* joint,simFloat* stopERP,simFloat* stopCFM,simFloat* bounce,simFloat* fudge,simFloat* normalCFM);
typedef simVoid (__cdecl *ptr_simGetJointBulletParameters)(const simVoid* joint,simFloat* stopERP,simFloat* stopCFM,simFloat* normalCFM);
typedef simVoid (__cdecl *ptr_simGetOdeMaxContactFrictionCFMandERP)(const simVoid* geomInfo,simInt* maxContacts,simFloat* friction,simFloat* cfm,simFloat* erp);
typedef simBool (__cdecl *ptr_simGetBulletCollisionMargin)(const simVoid* geomInfo,simFloat* margin,simInt* otherProp);
typedef simBool (__cdecl *ptr_simGetBulletStickyContact)(const simVoid* geomInfo);
typedef simFloat (__cdecl *ptr_simGetBulletRestitution)(const simVoid* geomInfo);
typedef simVoid (__cdecl *ptr_simGetVortexParameters)(const simVoid* object,simInt version,simFloat* floatParams,simInt* intParams);
typedef simVoid (__cdecl *ptr_simGetNewtonParameters)(const simVoid* object,simInt* version,simFloat* floatParams,simInt* intParams);
typedef simVoid (__cdecl *ptr_simGetDamping)(const simVoid* geomInfo,simFloat* linDamping,simFloat* angDamping);
typedef simFloat (__cdecl *ptr_simGetFriction)(const simVoid* geomInfo);
extern ptrSimSerialPortOpen simSerialPortOpen;
extern ptrSimSerialPortClose simSerialPortClose;
extern ptrSimSerialPortSend simSerialPortSend;
extern ptrSimSerialPortRead simSerialPortRead;
extern ptrSimJointGetForce simJointGetForce;
extern ptrSimGetPathPlanningHandle simGetPathPlanningHandle;
extern ptrSimGetMotionPlanningHandle simGetMotionPlanningHandle;
extern ptrSimGetMpConfigForTipPose simGetMpConfigForTipPose;
extern ptrSimFindMpPath simFindMpPath;
extern ptrSimSimplifyMpPath simSimplifyMpPath;
extern ptrSimFindIkPath simFindIkPath;
extern ptrSimGetMpConfigTransition simGetMpConfigTransition;
extern ptrSimCreateMotionPlanning simCreateMotionPlanning;
extern ptrSimRemoveMotionPlanning simRemoveMotionPlanning;
extern ptrSimSearchPath simSearchPath;
extern ptrSimInitializePathSearch simInitializePathSearch;
extern ptrSimPerformPathSearchStep simPerformPathSearchStep;
extern ptrSimLockInterface simLockInterface;
extern ptrSimCopyPasteSelectedObjects simCopyPasteSelectedObjects;
extern ptrSimResetPath simResetPath;
extern ptrSimHandlePath simHandlePath;
extern ptrSimResetJoint simResetJoint;
extern ptrSimHandleJoint simHandleJoint;
extern ptrSimAppendScriptArrayEntry simAppendScriptArrayEntry;
extern ptrSimClearScriptVariable simClearScriptVariable;
extern ptr_simGetJointOdeParameters _simGetJointOdeParameters;
extern ptr_simGetJointBulletParameters _simGetJointBulletParameters;
extern ptr_simGetOdeMaxContactFrictionCFMandERP _simGetOdeMaxContactFrictionCFMandERP;
extern ptr_simGetBulletCollisionMargin _simGetBulletCollisionMargin;
extern ptr_simGetBulletStickyContact _simGetBulletStickyContact;
extern ptr_simGetBulletRestitution _simGetBulletRestitution;
extern ptr_simGetVortexParameters _simGetVortexParameters;
extern ptr_simGetNewtonParameters _simGetNewtonParameters;
extern ptr_simGetDamping _simGetDamping;
extern ptr_simGetFriction _simGetFriction;
// Deprecated end

#endif // !defined(V_REPLIB_INCLUDED_)