class
#include <esp/sim/Simulator.h>
Simulator
Contents
Constructors, destructors, conversion operators
- Simulator(const SimulatorConfiguration& cfg) explicit
- ~Simulator() virtual
- Simulator() protected
Public functions
- void close() virtual
- Closes the simulator and frees all loaded assets and GPU contexts.
- void reconfigure(const SimulatorConfiguration& cfg) virtual
- void reset() virtual
-
void seed(uint32_
t newSeed) virtual -
auto getRenderer() -> std::
shared_ptr<gfx:: Renderer> -
auto getSemanticScene() -> std::
shared_ptr<scene:: SemanticScene> -
auto getActiveSceneGraph() -> scene::
SceneGraph& -
auto getActiveSemanticSceneGraph() -> scene::
SceneGraph& -
void saveFrame(const std::
string& filename) - auto gpuDevice() const -> int
- The ID of the CUDA device of the OpenGL context owned by the simulator. This will only be nonzero if the simulator is built in –headless mode on linux.
- auto getAssetAttributesManager() const -> const AttrMgrs::AssetAttributesManager::ptr
- Return manager for construction and access to asset attributes.
- auto getObjectAttributesManager() const -> const AttrMgrs::ObjectAttributesManager::ptr
- Return manager for construction and access to object attributes.
- auto getPhysicsAttributesManager() const -> const AttrMgrs::PhysicsAttributesManager::ptr
- Return manager for construction and access to physics world attributes.
- auto getSceneAttributesManager() const -> const AttrMgrs::SceneAttributesManager::ptr
- Return manager for construction and access to scene attributes.
-
auto getPhysicsSimulationLibrary() const -> const esp::
physics:: PhysicsManager:: PhysicsSimulationLibrary& - Return the library implementation type for the simulator currently in use. Use to check for a particular implementation.
-
auto addObject(int objectLibIndex,
scene::
SceneNode* attachmentNode = nullptr, const std:: string& lightSetupKey = assets:: ResourceManager:: DEFAULT_LIGHTING_KEY, int sceneID = 0) -> int - Instance an object from a template index in esp::assets::ResourceManager::physicsObjectLibrary_. See esp::
physics:: PhysicsManager:: addObject(). -
auto addObjectByHandle(const std::
string& objectLibHandle, scene:: SceneNode* attachmentNode = nullptr, const std:: string& lightSetupKey = assets:: ResourceManager:: DEFAULT_LIGHTING_KEY, int sceneID = 0) -> int - Instance an object from a template index in esp::assets::ResourceManager::physicsObjectLibrary_. See esp::
physics:: PhysicsManager:: addObject(). - auto getObjectInitializationTemplate(int objectId, const int sceneID = 0) const -> const assets::PhysicsObjectAttributes::cptr
- Get a static view of a physics object's template when the object was instanced.
- void removeObject(const int objectID, bool deleteObjectNode = true, bool deleteVisualNode = true, const int sceneID = 0)
- Remove an instanced object by ID. See esp::
physics:: PhysicsManager:: removeObject(). -
auto getExistingObjectIDs(const int sceneID = 0) -> std::
vector<int> - Get the IDs of the physics objects instanced in a physical scene. See esp::
physics:: PhysicsManager:: getExistingObjectIDs. -
auto getObjectMotionType(const int objectID,
const int sceneID = 0) -> esp::
physics:: MotionType - Get the esp::
physics:: MotionType of an object. See esp:: physics:: PhysicsManager:: getExistingObjectIDs. -
auto setObjectMotionType(const esp::
physics:: MotionType& motionType, const int objectID, const int sceneID = 0) -> bool - Set the esp::
physics:: MotionType of an object. See esp:: physics:: PhysicsManager:: getExistingObjectIDs. - auto getObjectVelocityControl(const int objectID, const int sceneID = 0) const -> physics::VelocityControl::ptr
- Retrieves a shared pointer to the VelocityControl struct for this object.
-
void applyTorque(const Magnum::
Vector3& tau, const int objectID, const int sceneID = 0) - Apply torque to an object. See esp::
physics:: PhysicsManager:: applyTorque. -
void applyForce(const Magnum::
Vector3& force, const Magnum:: Vector3& relPos, const int objectID, const int sceneID = 0) - Apply force to an object. See esp::
physics:: PhysicsManager:: applyForce. -
auto getObjectSceneNode(const int objectID,
const int sceneID = 0) -> scene::
SceneNode* - Get a reference to the object's scene node or nullptr if failed.
-
auto getObjectVisualSceneNodes(const int objectID,
const int sceneID = 0) -> std::
vector<scene:: SceneNode*> - Get references to the object's visual scene nodes or empty if failed.
-
auto getTransformation(const int objectID,
const int sceneID = 0) -> Magnum::
Matrix4 - Get the current 4x4 transformation matrix of an object. See esp::
physics:: PhysicsManager:: getTransformation. -
void setTransformation(const Magnum::
Matrix4& transform, const int objectID, const int sceneID = 0) - Set the 4x4 transformation matrix of an object kinematically. See esp::
physics:: PhysicsManager:: setTransformation. -
auto getRigidState(const int objectID,
const int sceneID = 0) const -> esp::
core:: RigidState - Get the current esp::
core:: RigidState of an object. -
void setRigidState(const esp::
core:: RigidState& rigidState, const int objectID, const int sceneID = 0) - Set the esp::
core:: RigidState of an object kinematically. -
void setTranslation(const Magnum::
Vector3& translation, const int objectID, const int sceneID = 0) - Set the 3D position of an object kinematically. See esp::
physics:: PhysicsManager:: setTranslation. -
auto getTranslation(const int objectID,
const int sceneID = 0) -> Magnum::
Vector3 - Get the current 3D position of an object. See esp::
physics:: PhysicsManager:: getTranslation. -
void setRotation(const Magnum::
Quaternion& rotation, const int objectID, const int sceneID = 0) - Set the orientation of an object kinematically. See esp::
physics:: PhysicsManager:: setRotation. -
auto getRotation(const int objectID,
const int sceneID = 0) -> Magnum::
Quaternion - Get the current orientation of an object. See esp::
physics:: PhysicsManager:: getRotation. -
void setLinearVelocity(const Magnum::
Vector3& linVel, const int objectID, const int sceneID = 0) - Set the Linear Velocity of object. See esp::phyics::PhysicsManager::setLinearVelocity.
-
auto getLinearVelocity(const int objectID,
const int sceneID = 0) -> Magnum::
Vector3 - Get the Linear Velocity of object. See esp::
physics:: PhysicsManager:: getLinearVelocity. -
void setAngularVelocity(const Magnum::
Vector3& angVel, const int objectID, const int sceneID = 0) - Set the Angular Velocity of object. See esp::phyics::PhysicsManager::setAngularVelocity.
-
auto getAngularVelocity(const int objectID,
const int sceneID = 0) -> Magnum::
Vector3 - Get the Angular Velocity of object. See esp::
physics:: PhysicsManager:: getAngularVelocity. - void setObjectBBDraw(bool drawBB, const int objectID, const int sceneID = 0)
- Turn on/off rendering for the bounding box of the object's visual component.
-
void setObjectSemanticId(uint32_
t semanticId, int objectID, int sceneID = 0) - Set the esp::scene:SceneNode::semanticId_ for all visual nodes belonging to an object.
- auto contactTest(const int objectID, const int sceneID = 0) -> bool
- Discrete collision check for contact between an object and the collision world.
-
auto castRay(const esp::
geo:: Ray& ray, float maxDistance = 100.0, const int sceneID = 0) -> esp:: physics:: RaycastResults - Raycast into the collision world of a scene.
- auto stepWorld(const double dt = 1.0/60.0) -> double
- the physical world has a notion of time which passes during animation/simulation/action/etc... Step the physical world forward in time by a desired duration. Note that the actual duration of time passed by this step will depend on simulation time stepping mode (todo). See esp::
physics:: PhysicsManager:: stepPhysics. - auto getWorldTime() -> double
- Get the current time in the simulated world. This is always 0 if no esp::
physics:: PhysicsManager is initialized. See stepWorld. See esp:: physics:: PhysicsManager:: getWorldTime. -
void setGravity(const Magnum::
Vector3& gravity, const int sceneID = 0) - Set the gravity in a physical scene.
-
auto getGravity(const int sceneID = 0) const -> Magnum::
Vector3 - Get the gravity in a physical scene.
-
auto recomputeNavMesh(nav::
PathFinder& pathfinder, const nav:: NavMeshSettings& navMeshSettings, bool includeStaticObjects = false) -> bool - Compute the navmesh for the simulator's current active scene and assign it to the referenced nav::
PathFinder. - auto setNavMeshVisualization(bool visualize) -> bool
- Set visualization of the current NavMesh pathfinder_ on or off.
- auto isNavMeshVisualizationActive() -> bool
- Query active state of the current NavMesh pathfinder_ visualization.
- auto getAgent(int agentId) -> agent::Agent::ptr
-
auto addAgent(const agent::
AgentConfiguration& agentConfig, scene:: SceneNode& agentParentNode) -> agent::Agent::ptr -
auto addAgent(const agent::
AgentConfiguration& agentConfig) -> agent::Agent::ptr -
auto displayObservation(int agentId,
const std::
string& sensorId) -> bool - Displays observations on default frame buffer for a particular sensor of an agent.
-
auto getAgentObservation(int agentId,
const std::
string& sensorId, sensor:: Observation& observation) -> bool -
auto getAgentObservations(int agentId,
std::
map<std:: string, sensor:: Observation>& observations) -> int -
auto getAgentObservationSpace(int agentId,
const std::
string& sensorId, sensor:: ObservationSpace& space) -> bool -
auto getAgentObservationSpaces(int agentId,
std::
map<std:: string, sensor:: ObservationSpace>& spaces) -> int - auto getPathFinder() -> nav::PathFinder::ptr
- void setPathFinder(nav::PathFinder::ptr pf)
- void setFrustumCullingEnabled(bool val)
- Enable or disable frustum culling (enabled by default)
- auto isFrustumCullingEnabled() -> bool
- Get status, whether frustum culling is enabled or not.
-
auto getLightSetup(const std::
string& key = assets:: ResourceManager:: DEFAULT_LIGHTING_KEY) -> gfx:: LightSetup - Get a named LightSetup.
-
void setLightSetup(gfx::
LightSetup lightSetup, const std:: string& key = assets:: ResourceManager:: DEFAULT_LIGHTING_KEY) - Set a named LightSetup.
-
void setObjectLightSetup(int objectID,
const std::
string& lightSetupKey, int sceneID = 0) - Set the light setup of an object.
-
auto random() -> core::
Random:: ptr - Getter for PRNG.
Protected functions
-
void sampleRandomAgentState(agent::
AgentState& agentState) - sample a random valid AgentState in passed agentState
- auto isValidScene(int sceneID) const -> bool
- auto sceneHasPhysics(int sceneID) const -> bool
Protected variables
- gfx::WindowlessContext::uptr context_
-
std::
shared_ptr<gfx:: Renderer> renderer_ -
std::
unique_ptr<assets:: ResourceManager> resourceManager_ - scene::SceneManager::uptr sceneManager_
- int activeSceneID_
- int activeSemanticSceneID_
-
std::
vector<int> sceneID_ -
std::
shared_ptr<scene:: SemanticScene> semanticScene_ -
std::
shared_ptr<physics:: PhysicsManager> physicsManager_ -
core::
Random:: ptr random_ - SimulatorConfiguration config_
-
std::
vector<agent::Agent::ptr> agents_ - nav::PathFinder::ptr pathfinder_
- bool frustumCulling_
- int navMeshVisPrimID_
- NavMesh visualization variables.
-
esp::
scene:: SceneNode* navMeshVisNode_
Function documentation
void esp:: sim:: Simulator:: close() virtual
Closes the simulator and frees all loaded assets and GPU contexts.
const esp:: physics:: PhysicsManager:: PhysicsSimulationLibrary& esp:: sim:: Simulator:: getPhysicsSimulationLibrary() const
Return the library implementation type for the simulator currently in use. Use to check for a particular implementation.
Returns | The implementation type of this simulator. |
---|
int esp:: sim:: Simulator:: addObject(int objectLibIndex,
scene:: SceneNode* attachmentNode = nullptr,
const std:: string& lightSetupKey = assets:: ResourceManager:: DEFAULT_LIGHTING_KEY,
int sceneID = 0)
Instance an object from a template index in esp::assets::ResourceManager::physicsObjectLibrary_. See esp::
Parameters | |
---|---|
objectLibIndex | The index of the object's template in esp::assets::ResourceManager::physicsObjectLibrary_. |
attachmentNode | If provided, attach the RigidObject Feature to this node instead of creating a new one. |
lightSetupKey | The string key for the LightSetup to be used by this object. |
sceneID | !! Not used currently !! Specifies which physical scene to add an object to. |
Returns | The ID assigned to new object which identifies it in esp:: |
int esp:: sim:: Simulator:: addObjectByHandle(const std:: string& objectLibHandle,
scene:: SceneNode* attachmentNode = nullptr,
const std:: string& lightSetupKey = assets:: ResourceManager:: DEFAULT_LIGHTING_KEY,
int sceneID = 0)
Instance an object from a template index in esp::assets::ResourceManager::physicsObjectLibrary_. See esp::
Parameters | |
---|---|
objectLibHandle | The config/origin handle of the object's template in esp::assets::ResourceManager::physicsObjectLibrary_. |
attachmentNode | If provided, attach the RigidObject Feature to this node instead of creating a new one. |
lightSetupKey | The string key for the LightSetup to be used by this object. |
sceneID | !! Not used currently !! Specifies which physical scene to add an object to. |
Returns | The ID assigned to new object which identifies it in esp:: |
const assets::PhysicsObjectAttributes::cptr esp:: sim:: Simulator:: getObjectInitializationTemplate(int objectId,
const int sceneID = 0) const
Get a static view of a physics object's template when the object was instanced.
Use this to query the object's properties when it was initialized. Object pointed at by pointer is const, and can not be modified.
void esp:: sim:: Simulator:: removeObject(const int objectID,
bool deleteObjectNode = true,
bool deleteVisualNode = true,
const int sceneID = 0)
Remove an instanced object by ID. See esp::
Parameters | |
---|---|
objectID | The ID of the object identifying it in esp:: |
deleteObjectNode | |
deleteVisualNode | |
sceneID | !! Not used currently !! Specifies which physical scene to remove the object from. |
std:: vector<int> esp:: sim:: Simulator:: getExistingObjectIDs(const int sceneID = 0)
Get the IDs of the physics objects instanced in a physical scene. See esp::
Parameters | |
---|---|
sceneID | !! Not used currently !! Specifies which physical scene to query. |
Returns | A vector of ID keys into esp:: |
esp:: physics:: MotionType esp:: sim:: Simulator:: getObjectMotionType(const int objectID,
const int sceneID = 0)
Get the esp::
Parameters | |
---|---|
objectID | The ID of the object identifying it in esp:: |
sceneID | !! Not used currently !! Specifies which physical scene to query. |
Returns | The esp:: |
bool esp:: sim:: Simulator:: setObjectMotionType(const esp:: physics:: MotionType& motionType,
const int objectID,
const int sceneID = 0)
Set the esp::
Parameters | |
---|---|
motionType | The desired motion type of the object |
objectID | The ID of the object identifying it in esp:: |
sceneID | !! Not used currently !! Specifies which physical scene to query. |
Returns | whether or not the set was successful. |
void esp:: sim:: Simulator:: applyTorque(const Magnum:: Vector3& tau,
const int objectID,
const int sceneID = 0)
Apply torque to an object. See esp::
Parameters | |
---|---|
tau | The desired torque to apply. |
objectID | The ID of the object identifying it in esp:: |
sceneID | !! Not used currently !! Specifies which physical scene of the object. |
void esp:: sim:: Simulator:: applyForce(const Magnum:: Vector3& force,
const Magnum:: Vector3& relPos,
const int objectID,
const int sceneID = 0)
Apply force to an object. See esp::
Parameters | |
---|---|
force | The desired linear force to apply. |
relPos | The desired location relative to the object origin at which to apply the force. |
objectID | The ID of the object identifying it in esp:: |
sceneID | !! Not used currently !! Specifies which physical scene of the object. |
Magnum:: Matrix4 esp:: sim:: Simulator:: getTransformation(const int objectID,
const int sceneID = 0)
Get the current 4x4 transformation matrix of an object. See esp::
Parameters | |
---|---|
objectID | The object ID and key identifying the object in esp:: |
sceneID | !! Not used currently !! Specifies which physical scene of the object. |
Returns | The 4x4 transform of the object. |
void esp:: sim:: Simulator:: setTransformation(const Magnum:: Matrix4& transform,
const int objectID,
const int sceneID = 0)
Set the 4x4 transformation matrix of an object kinematically. See esp::
Parameters | |
---|---|
transform | The desired 4x4 transform of the object. |
objectID | The object ID and key identifying the object in esp:: |
sceneID | !! Not used currently !! Specifies which physical scene of the object. |
esp:: core:: RigidState esp:: sim:: Simulator:: getRigidState(const int objectID,
const int sceneID = 0) const
Get the current esp::
Parameters | |
---|---|
objectID | The object ID and key identifying the object in esp:: |
sceneID | !! Not used currently !! Specifies which physical scene of the object. |
Returns | The esp:: |
void esp:: sim:: Simulator:: setRigidState(const esp:: core:: RigidState& rigidState,
const int objectID,
const int sceneID = 0)
Set the esp::
Parameters | |
---|---|
rigidState | |
objectID | The object ID and key identifying the object in esp:: |
sceneID | !! Not used currently !! Specifies which physical scene of the object. |
void esp:: sim:: Simulator:: setTranslation(const Magnum:: Vector3& translation,
const int objectID,
const int sceneID = 0)
Set the 3D position of an object kinematically. See esp::
Parameters | |
---|---|
translation | The desired 3D position of the object. |
objectID | The object ID and key identifying the object in esp:: |
sceneID | !! Not used currently !! Specifies which physical scene of the object. |
Magnum:: Vector3 esp:: sim:: Simulator:: getTranslation(const int objectID,
const int sceneID = 0)
Get the current 3D position of an object. See esp::
Parameters | |
---|---|
objectID | The object ID and key identifying the object in esp:: |
sceneID | !! Not used currently !! Specifies which physical scene of the object. |
Returns | The 3D position of the object. |
void esp:: sim:: Simulator:: setRotation(const Magnum:: Quaternion& rotation,
const int objectID,
const int sceneID = 0)
Set the orientation of an object kinematically. See esp::
Parameters | |
---|---|
rotation | The desired orientation of the object. |
objectID | The object ID and key identifying the object in esp:: |
sceneID | !! Not used currently !! Specifies which physical scene of the object. |
Magnum:: Quaternion esp:: sim:: Simulator:: getRotation(const int objectID,
const int sceneID = 0)
Get the current orientation of an object. See esp::
Parameters | |
---|---|
objectID | The object ID and key identifying the object in esp:: |
sceneID | !! Not used currently !! Specifies which physical scene of the object. |
Returns | A quaternion representation of the object's orientation. |
void esp:: sim:: Simulator:: setLinearVelocity(const Magnum:: Vector3& linVel,
const int objectID,
const int sceneID = 0)
Set the Linear Velocity of object. See esp::phyics::PhysicsManager::setLinearVelocity.
Parameters | |
---|---|
linVel | The desired linear velocity of the object. |
objectID | The object ID and key identifying the object in esp:: |
sceneID | !! Not used currently !! Specifies which physical scene of the object. |
Magnum:: Vector3 esp:: sim:: Simulator:: getLinearVelocity(const int objectID,
const int sceneID = 0)
Get the Linear Velocity of object. See esp::
Parameters | |
---|---|
objectID | The object ID and key identifying the object in esp:: |
sceneID | !! Not used currently !! Specifies which physical scene of the object. |
Returns | A vector3 representation of the object's linear velocity. |
void esp:: sim:: Simulator:: setAngularVelocity(const Magnum:: Vector3& angVel,
const int objectID,
const int sceneID = 0)
Set the Angular Velocity of object. See esp::phyics::PhysicsManager::setAngularVelocity.
Parameters | |
---|---|
angVel | The desired angular velocity of the object. |
objectID | The object ID and key identifying the object in esp:: |
sceneID | !! Not used currently !! Specifies which physical scene of the object. |
Magnum:: Vector3 esp:: sim:: Simulator:: getAngularVelocity(const int objectID,
const int sceneID = 0)
Get the Angular Velocity of object. See esp::
Parameters | |
---|---|
objectID | The object ID and key identifying the object in esp:: |
sceneID | !! Not used currently !! Specifies which physical scene of the object. |
Returns | A vector3 representation of the object's angular velocity. |
void esp:: sim:: Simulator:: setObjectBBDraw(bool drawBB,
const int objectID,
const int sceneID = 0)
Turn on/off rendering for the bounding box of the object's visual component.
Parameters | |
---|---|
drawBB | Whether or not the render the bounding box. |
objectID | The object ID and key identifying the object in esp:: |
sceneID | !! Not used currently !! Specifies which physical scene of the object. |
Assumes the new esp::
void esp:: sim:: Simulator:: setObjectSemanticId(uint32_ t semanticId,
int objectID,
int sceneID = 0)
Set the esp::scene:SceneNode::semanticId_ for all visual nodes belonging to an object.
Parameters | |
---|---|
semanticId | The desired semantic id for the object. |
objectID | The object ID and key identifying the object in esp:: |
sceneID | !! Not used currently !! Specifies which physical scene of the object. |
bool esp:: sim:: Simulator:: contactTest(const int objectID,
const int sceneID = 0)
Discrete collision check for contact between an object and the collision world.
Parameters | |
---|---|
objectID | The object ID and key identifying the object in esp:: |
sceneID | !! Not used currently !! Specifies which physical scene of the object. |
Returns | Whether or not the object is in contact with any other collision enabled objects. |
esp:: physics:: RaycastResults esp:: sim:: Simulator:: castRay(const esp:: geo:: Ray& ray,
float maxDistance = 100.0,
const int sceneID = 0)
Raycast into the collision world of a scene.
Parameters | |
---|---|
ray | The ray to cast. Need not be unit length, but returned hit distances will be in units of ray length. |
maxDistance | The maximum distance along the ray direction to search. In units of ray length. |
sceneID | !! Not used currently !! Specifies which physical scene of the object. |
Returns | Raycast results sorted by distance. |
Note: A default physics::
double esp:: sim:: Simulator:: stepWorld(const double dt = 1.0/60.0)
the physical world has a notion of time which passes during animation/simulation/action/etc... Step the physical world forward in time by a desired duration. Note that the actual duration of time passed by this step will depend on simulation time stepping mode (todo). See esp::
Parameters | |
---|---|
dt | The desired amount of time to advance the physical world. |
Returns | The new world time after stepping. See esp:: |
double esp:: sim:: Simulator:: getWorldTime()
Get the current time in the simulated world. This is always 0 if no esp::
Returns | The amount of time, esp:: |
---|
bool esp:: sim:: Simulator:: recomputeNavMesh(nav:: PathFinder& pathfinder,
const nav:: NavMeshSettings& navMeshSettings,
bool includeStaticObjects = false)
Compute the navmesh for the simulator's current active scene and assign it to the referenced nav::
Parameters | |
---|---|
pathfinder | The pathfinder object to which the recomputed navmesh will be assigned. |
navMeshSettings | The nav:: |
includeStaticObjects | |
Returns | Whether or not the navmesh recomputation succeeded. |
bool esp:: sim:: Simulator:: setNavMeshVisualization(bool visualize)
Set visualization of the current NavMesh pathfinder_ on or off.
Parameters | |
---|---|
visualize | Whether or not to visualize the navmesh. |
Returns | Whether or not the NavMesh visualization is active. |
bool esp:: sim:: Simulator:: displayObservation(int agentId,
const std:: string& sensorId)
Displays observations on default frame buffer for a particular sensor of an agent.
Parameters | |
---|---|
agentId | Id of the agent for which the observation is to be returned |
sensorId | Id of the sensor for which the observation is to be returned |
void esp:: sim:: Simulator:: setFrustumCullingEnabled(bool val)
Enable or disable frustum culling (enabled by default)
Parameters | |
---|---|
val | = enable, false = disable |
bool esp:: sim:: Simulator:: isFrustumCullingEnabled()
Get status, whether frustum culling is enabled or not.
Returns | true if enabled, otherwise false |
---|
void esp:: sim:: Simulator:: setLightSetup(gfx:: LightSetup lightSetup,
const std:: string& key = assets:: ResourceManager:: DEFAULT_LIGHTING_KEY)
Set a named LightSetup.
Parameters | |
---|---|
lightSetup | Light setup this key will now reference |
key | Key to identify this LightSetup |
If this name already exists, the LightSetup is updated and all Drawables using this setup are updated.
void esp:: sim:: Simulator:: setObjectLightSetup(int objectID,
const std:: string& lightSetupKey,
int sceneID = 0)
Set the light setup of an object.
Parameters | |
---|---|
objectID | The object ID and key identifying the object in esp:: |
lightSetupKey | LightSetup key |
sceneID | !! Not used currently !! Specifies which physical scene of the object. |
core:: Random:: ptr esp:: sim:: Simulator:: random()
Getter for PRNG.
Use this where-ever possible so that habitat won't be effect by python's random or np.random modules