addCuboid=function(siz,pos,orient)

    if CHAI3DPluginInitialized then

        local cuboidHandle=simCreatePureShape(,+,siz,)

        simSetObjectParent(cuboidHandle,modelHandle,true)

        simSetObjectPosition(cuboidHandle,modelHandle,pos)

        simSetObjectOrientation(cuboidHandle,modelHandle,orient)

        return addMesh(cuboidHandle,true), cuboidHandle

    end

    return -, -

end

-- copy V-REP objects to the CHAI3D scene so that they can be "felt" with the haptic device

addMesh=function(shapeHandle,whenRemovedEraseMesh)

    if CHAI3DPluginInitialized then

        if not objCont then

            objCont={}

        end

        objCont[#objCont+]=shapeHandle

        local vertices,indices=simGetShapeMesh(shapeHandle)

        local pos=simGetObjectPosition(shapeHandle,modelHandle)

        local orient=simGetObjectOrientation(shapeHandle,modelHandle)

        local hapticObjId=simExtCHAI3D_addShape(vertices,indices,pos,orient,)

        objCont[#objCont+]=hapticObjId

        objCont[#objCont+]=whenRemovedEraseMesh

        return hapticObjId

    end

    return -

end

removeAllObjects=function()

    if CHAI3DPluginInitialized then

        if objCont then

            for i=,(#objCont)/, do

                local obj=objCont[*(i-)+]

                if objCont[*(i-)+] then

                    simRemoveObject(obj)

                end

                simExtCHAI3D_removeObject(objCont[*(i-)+])

            end

        end

        objCont=nil

    end

end

if (sim_call_type==sim_childscriptcall_initialization) then

    modelHandle=simGetObjectAssociatedWithScript(sim_handle_self)

    -- Check if the plugin is loaded:

    moduleName=

    moduleVersion=

    index=

    pluginNotFound=true

    while moduleName do

        moduleName,moduleVersion=simGetModuleName(index)

        if (moduleName=='CHAI3D') then

            pluginNotFound=false

        end

        index=index+

    end

    if (pluginNotFound) then

        simDisplayDialog('Error','CHAI3D plugin was not found, or was not correctly initialized (v_repExtCHAI3D.dll).',sim_dlgstyle_ok,false,nil,{0.8,,,,,},{0.5,,,,,})

    else

        -- Start the device:

        local toolRadius=0.005 -- the radius of the tool

        local workspaceRadius=0.2 -- the workspace radius

        if simExtCHAI3D_start(,toolRadius,workspaceRadius)~= then

            simDisplayDialog('Error','Device failed to initialize.',sim_dlgstyle_ok,false,nil,{0.8,,,,,},{0.5,,,,,})

        else

            CHAI3DPluginInitialized=true

            toolSphereHandle=simCreatePureShape(,+,{toolRadius*,toolRadius*,toolRadius*},)

            simSetObjectParent(toolSphereHandle,modelHandle,true)

            simSetShapeColor(toolSphereHandle,'',,{,,})

            -- Create a haptic cuboid:

            local cuboidSize={0.1,0.1,0.1}

            local cuboidPosition={0.01,-0.01,0.05}

            local cuboidOrientation={,,}

            cuboidId,cuboidHandle=addCuboid(cuboidSize,cuboidPosition,cuboidOrientation)

--[[

            -- Create a haptic mesh from an existing V-REP shape:

            meshHandle=simGetObjectHandle('mesh')

            local removeOriginalShapeWhenDone=false

            meshId=addMesh(meshHandle,removeOriginalShapeWhenDone)

--]]

        end

    end

end

if (sim_call_type==sim_childscriptcall_actuation) then

end

if (sim_call_type==sim_childscriptcall_sensing) then

    if CHAI3DPluginInitialized then

        -- Read the position of the cursor:

        local p=simExtCHAI3D_readPosition()

        -- Reflect the position of the cursor in V-REP:

        simSetObjectPosition(toolSphereHandle,modelHandle,p)

        -- Read the the interaction force:

        local f=simExtCHAI3D_readForce()

        -- Read the buttons of the device:

        local b = simExtCHAI3D_readButtons()

        local info = string.format("Position:%.2f,%.2f,%.2f Force:%.2f,%.2f,%.2f Button State:%d",p[],p[],p[],f[],f[],f[],b)

        simAddStatusbarMessage(info)

    end

end

if (sim_call_type==sim_childscriptcall_cleanup) then

    if CHAI3DPluginInitialized then

        -- Remove all Haptic objects (objects and forces):

        removeAllObjects()

        -- Remove all objects in the haptic scene:

        simExtCHAI3D_reset()

    end

end