AuroraMiddleware/bullet3
1
0
Fork 0
mirror of https://github.com/bulletphysics/bullet3 synced 2024-12-13 05:10:08 +00:00
Code Issues Releases Wiki Activity

Update pybullet autogenerated C# bindings, with very basic example script that runs inside Unity 3D

Browse Source
This commit is contained in:
erwincoumans 2017-09-29 07:47:31 -07:00
parent 4dca5b3ef5
commit dd2c7af2b2
3 changed files with 701 additions and 551 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
data/kuka_iiwa/model_free_base.urdf
View File

@ -70,7 +70,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_0.stl"/>
<mesh filename="meshes/link_0.obj"/>
</geometry>
<material name="Grey"/>
</visual>
@ -99,7 +99,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_1.stl"/>
<mesh filename="meshes/link_1.obj"/>
</geometry>
<material name="Blue"/>
</visual>
@ -128,7 +128,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_2.stl"/>
<mesh filename="meshes/link_2.obj"/>
</geometry>
<material name="Blue"/>
</visual>
@ -157,7 +157,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_3.stl"/>
<mesh filename="meshes/link_3.obj"/>
</geometry>
<material name="Orange"/>
</visual>
@ -186,7 +186,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_4.stl"/>
<mesh filename="meshes/link_4.obj"/>
</geometry>
<material name="Blue"/>
</visual>
@ -215,7 +215,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_5.stl"/>
<mesh filename="meshes/link_5.obj"/>
</geometry>
<material name="Blue"/>
</visual>
@ -244,7 +244,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_6.stl"/>
<mesh filename="meshes/link_6.obj"/>
</geometry>
<material name="Orange"/>
</visual>
@ -273,7 +273,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_7.stl"/>
<mesh filename="meshes/link_7.obj"/>
</geometry>
<material name="Grey"/>
</visual>

1167
examples/pybullet/unity3d/autogen/NativeMethods.cs
View File

File diff suppressed because it is too large Load Diff

69
examples/pybullet/unity3d/examples/NewBehaviourScript.cs
View File

@ -10,25 +10,8 @@ using System;
public class NewBehaviourScript : MonoBehaviour {
[System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint = "b3ConnectSharedMemory")]
public static extern System.IntPtr b3ConnectSharedMemory(int key);
[System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint = "b3CreateInProcessPhysicsServerAndConnect")]
public static extern System.IntPtr b3CreateInProcessPhysicsServerAndConnect(int argc, ref System.IntPtr argv);
[System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint = "b3InitStepSimulationCommand")]
public static extern System.IntPtr b3InitStepSimulationCommand(IntPtr physClient);
[System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint = "b3LoadUrdfCommandInit")]
public static extern System.IntPtr b3LoadUrdfCommandInit(IntPtr physClient, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string urdfFileName);
[System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint = "b3InitResetSimulationCommand")]
public static extern System.IntPtr b3InitResetSimulationCommand(IntPtr physClient);
[System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint = "b3SubmitClientCommandAndWaitStatus")]
public static extern System.IntPtr b3SubmitClientCommandAndWaitStatus(IntPtr physClient, IntPtr commandHandle);
[DllImport("TestCppPlug.dll")]
static extern int Add(int a, int b);
@ -60,27 +43,45 @@ public class NewBehaviourScript : MonoBehaviour {
CallMe(IWasCalled);
sharedAPI = CreateSharedAPI(30);
IntPtr pybullet = b3ConnectSharedMemory(12347);
IntPtr cmd = b3InitResetSimulationCommand(pybullet);
IntPtr status = b3SubmitClientCommandAndWaitStatus(pybullet, cmd);
cmd = b3LoadUrdfCommandInit(pybullet, "plane.urdf");
status = b3SubmitClientCommandAndWaitStatus(pybullet, cmd);
pybullet = NativeMethods.b3ConnectPhysicsDirect();// SharedMemory(12347);
IntPtr cmd = NativeMethods.b3InitResetSimulationCommand(pybullet);
IntPtr status = NativeMethods.b3SubmitClientCommandAndWaitStatus(pybullet, cmd);
int numBodies = NativeMethods.b3GetNumBodies(pybullet);
cmd = NativeMethods.b3LoadUrdfCommandInit(pybullet, "plane.urdf");
status = NativeMethods.b3SubmitClientCommandAndWaitStatus(pybullet, cmd);
EnumSharedMemoryServerStatus statusType = (EnumSharedMemoryServerStatus)NativeMethods.b3GetStatusType(status);
if (statusType == EnumSharedMemoryServerStatus.CMD_URDF_LOADING_COMPLETED)
{
numBodies = NativeMethods.b3GetNumBodies(pybullet);
text.text = numBodies.ToString();
if (numBodies > 0)
{
//b3BodyInfo info=new b3BodyInfo();
//NativeMethods.b3GetBodyInfo(pybullet, 0, ref info );
//text.text = info.m_baseName;
}
}
//IntPtr clientPtr = b3CreateInProcessPhysicsServerAndConnect(0, ref ptr);
}
// Update is called once per frame
void Update () {
IntPtr cmd = b3InitStepSimulationCommand(pybullet);
IntPtr status = b3SubmitClientCommandAndWaitStatus(pybullet, cmd);
//System.IO.Directory.GetCurrentDirectory().ToString();//
//text.text = Add(4, 5).ToString();
text.text = UnityEngine.Random.Range(0f, 1f).ToString();// GetMyIdPlusTen(sharedAPI).ToString();
// Update is called once per frame
void Update () {
//if (pybullet != IntPtr.Zero)
{
IntPtr cmd = NativeMethods.b3InitStepSimulationCommand(pybullet);
IntPtr status = NativeMethods.b3SubmitClientCommandAndWaitStatus(pybullet, cmd);
//text.text = System.IO.Directory.GetCurrentDirectory().ToString();
//text.text = Add(4, 5).ToString();
//text.text = UnityEngine.Random.Range(0f, 1f).ToString();// GetMyIdPlusTen(sharedAPI).ToString();
}
}
void OnDestroy()
{
DeleteSharedAPI(sharedAPI);
NativeMethods.b3DisconnectSharedMemory(pybullet);
}
}