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Calculation modules
Scene objects 場景物件
The main elements in CoppeliaSim that are used for building a simulation scene are scene objects (objects in short).
CoppeliaSim中用於構建模擬場景的主要元素是場景物件（簡而言之）
Objects are visible in the scene hierarchy and in the scene view.
物件在場景層次結構和場景視圖中可見。
In the scene view, objects have a three dimensional representation as illustrated in following figure:
在物件視圖中，物件具有三維表示，如下圖所示：
Following list gives a brief functional description of each object type:
以下列表簡要介紹了每種物件類型的功能：
●Shapes: a shape is a rigid mesh that is composed of triangular faces.
形狀：形狀是由三角形面組成的剛性網格。
●Joints: a joint object is a joint or actuator. Four types are supported: revolute joints, prismatic joints, screws and spherical joints.
關節：關節物件是關節或執行器。四種類型支持架：旋轉接頭，棱柱接頭，螺釘和球形接頭。
●Graphs: a graph is used to record and visualize simulation data.
圖形：圖形用於記錄和可視化模擬數據。
●Dummies: a dummy is a point with orientation. Dummies are multipurpose objects that can have many different applications.
假人：假人是具有定向的點。假人是可以具有許多不同應用程序的多用途對象。
●Proximity sensors: a proximity sensor detects objects in a geometrically exact fashion within its detection volume. CoppeliaSim supports pyramid-, cylinder-, disk-, cone- and ray-type proximity sensors.
接近傳感器：接近傳感器以幾何精確的方式在其檢測範圍內檢測物體。 CoppeliaSim支持金字塔型，圓柱型，圓盤型，圓錐型和射線型接近傳感器。
●Vision sensors: a vision sensor is a camera-type sensor, reacting to light, colors and images.
視覺傳感器：視覺傳感器是一種相機型傳感器，對光線，顏色和圖像有反應。
●Force sensors: a force sensor is an object able to measure forces and torques that are applied to it. It also has the ability to break if a given threashold is overshot.
力傳感器：力傳感器是能夠測量施加到其上的力和扭矩的對象。 如果給定的閾值被超出，它也具有打破的能力。
●Cameras: a camera is an object that allows seeing the simulation scene from various view points.
攝影機：攝影機是一個可以從各個角度查看模擬場景的對象。
●Lights: a light is an object that allows illuminating the simulation scene.
燈光：燈光是一個可以照亮模擬場景的對象。
●Paths: a path is an object that defines a path or trajectory in space. It can be used for various purposes, also as a customized joint or actuator.
路徑：路徑是在空間中定義路徑或軌蹟的對象。 它可以用於各種目的，也可以用作定制的接頭或執行器。
●OC trees: an OC tree is a spacial partitioning data structure made up by voxels.
OC樹：OC樹是由體素組成的空間分區數據結構。
●Point clouds: a point cloud is an OC tree structure that contains points.
點雲：點雲是包含點的OC樹結構。
Some of above objects can have special properties allowing other objects or calculation modules to interact with them. Objects can be:
以上某些物件可以具有特殊的屬性，從而允許其他物件或計算模塊與它們進行交互。物件可以是：
●Collidable 可碰撞
●Measurable 可衡量的
●Detectable 可檢測的
●Renderable 可呈現
●Viewable 可見的
Collections 集合
A collection is a user-defined collection of scene objects.
集合是場景物件的用戶定義集合。
A collection has to contain at least one object and is considered to be an entity (objects are also entities)
集合必須包含至少一個物件，並且被認為是一個實體（物件也是實體）。
Collections are useful when referring to several objects like a robot for instance
當引用多個物件（例如機器人）時，集合很有用
CoppeliaSim supports calculations based not only on objects, but also on collections
CoppeliaSim支持不僅基於物件而且還基於集合的計算
For instance the collision detection module allows registering following collision pair(collection A; object B
例如，碰撞檢測模塊允許註冊以下碰撞(集合A；物件B)
The collision checking algorithm will then check whether the collection A (any object composing it) collides with object B.
然後，碰撞檢查算法將檢查集合A（組成它的任何對象）是否與物件B碰撞。
Collections are collidable, measurable, detectable and renderable entities.
集合是可碰撞，可測量，可檢測和可渲染的實體。
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