The main client application

V-REP is a function library: without main client application (or main application, or main loop), V-REP cannot run. The default main client application that comes with the installation package is "vrep.exe". It is a small application that handles following main tasks:

  • it runs the simulator with simRunSimulator.
  • it loads and unloads plugins with simLoadModule and simUnloadModule
  • it load a scene, model or UI file that was double-clicked with simLoadScene, simLoadModel or simLoadUI
  • it handles running simulations with simHandleMainScript and simAdvanceSimulationByOneStep
  • The V-REP programming folder contains two main application projects: v_repClientApplication (cross-platform Qt project) and windowsOnlyProjects/v_repClientApplication (MSV2005 project). Following are the main files required for compilation and running that applications (the easiest is however to simply copy the newly built main application into V-REP PRO / V-REP PRO EDU / V-REP PLAYER installation folder):

  • "v_repLib.h", "v_repLib.cpp" and "v_repConst.h": files required to dynamically load and bind to V-REP
  • "v_rep.dll" / "libv_rep.dylib" / "libv_rep.so": the V-REP library
  • "lua5.1.dll" (or similar): library required for the Lua functionality
  • "qscintilla2.dll" (or similar): library required for the scintilla editor
  • "QtCore4.dll", "QtGui4.dll", etc. (or similar): libraries of the Qt framework
  • V-REP's "system" folder and all its content (required for proper initialization, etc.)
  • "v_repWin.dll" (Windows only): auxiliary library required by the Windows version of V-REP
  • The main client application can be customized. This is however not recommended and should only be used when writing scripts and/or plugins won't work for your purpose, since the risk of losing compatibility with the default V-REP behavior is high if not properly implemented.

    Recommended topics

  • Plugins