Go to file
erwincoumans 743d69ef69 Merge pull request #1216 from erwincoumans/master
implement pybullet.changeTexture, fix loadTexture for OpenGL
2017-06-30 21:07:28 -07:00
build3 cmake minor fixes 2017-05-21 09:32:00 -04:00
data implement pybullet.changeTexture. For now, the width/height has to match the target texture unique id, otherwise crashes may happen (a check for width/height match will be added) 2017-06-30 19:11:43 -07:00
docs update pybullet_quickstartguide.pdf from https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA 2017-06-17 17:33:38 -07:00
examples implement pybullet.changeTexture. For now, the width/height has to match the target texture unique id, otherwise crashes may happen (a check for width/height match will be added) 2017-06-30 19:11:43 -07:00
Extras obj2sdf -> don't crash when no name is given, remind user of --fileName=... 2017-06-17 10:24:47 -07:00
src fixes in pybullet.loadTexture, changeVisualShape replacing texture. 2017-06-30 13:35:07 -07:00
test update include after stb_image changes 2017-06-22 09:03:10 -07:00
_clang-format clang-format pybullet.c 2017-03-13 16:06:52 -07:00
.gitignore Add gitignore to exclude build files. 2016-11-01 22:52:06 +01:00
.travis.yml revert numpy test/travis.yml 2016-09-11 10:47:00 +01:00
appveyor.yml Update appveyor.yml 2016-09-11 10:10:25 +01:00
AUTHORS.txt Update AUTHORS.txt 2016-09-25 18:30:54 -07:00
build_cmake_pybullet_double.sh Replace large timeout (1024*1024*1024) using real-time clock timeout (10 seconds default) 2017-02-22 09:33:30 -08:00
build_visual_studio_vr_pybullet_double_cmake.bat expose timeout in pybullet/shared memory API 2017-02-24 15:34:11 -08:00
build_visual_studio_vr_pybullet_double.bat add commented-out example to enable premake serial/audio 2017-05-01 22:37:45 -07:00
build_visual_studio_without_pybullet_vr.bat Created Wavefront obj to sdf converter, to make it easier to import complex obj models with many materials. See kitchen for example. 2017-03-01 10:06:10 -08:00
bullet.pc.cmake pkg-config: Fixing regression introduced by e46b7b2 2016-06-30 14:02:19 -04:00
BulletConfig.cmake.in Add the old Bullet 2.x obsolete demos, and CMake buildsystem files, and gradually move them to newer Bullet 3.x structure 2013-12-19 12:40:59 -08:00
CMakeLists.txt Bullet 2 threading refactor: moved parallel-for calls into core libs 2017-05-23 01:01:20 -07:00
Doxyfile add Doxyfile 2015-05-01 16:51:59 -07:00
LICENSE.txt add latex source of Bullet 2.82 quickstart guide, todo: update to current release 2015-04-29 15:12:31 -07:00
MANIFEST.in add missing files in pip, bump version 2017-04-04 00:01:12 -07:00
README.md Update README.md 2017-02-27 19:11:24 -08:00
setup.py bump up pybullet version again 2017-06-17 13:34:03 -07:00
UseBullet.cmake fix make install, when using CMake 2014-03-06 11:40:35 -08:00
VERSION Split Bullet/src/LinearMath/btSerializer.cpp into btSerializer64.cpp to make it easier to rebuild serialization structure. 2017-03-26 13:06:46 -07:00
xcode.command move some easy-to-use build files for Mac OSX, Linux and Windows 2016-05-21 10:45:08 -07:00

Travis Build Status Appveyor Build status

Bullet Physics SDK

This is the official C++ source code repository of the Bullet Physics SDK: real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc.

New in Bullet 2.85: pybullet Python bindings, improved support for robotics and VR

The Bullet 2 API will stay default and up-to-date while slowly moving to a new API. The steps towards a new API is in a nutshell:

  1. The old Bullet2 demos are being merged into the examples/ExampleBrowser
  2. A new physics-engine agnostic C-API is created, see examples/SharedMemory/PhysicsClientC_API.h
  3. Python bindings in pybullet are on top of this C-API, see examples/pybullet
  4. A Virtual Reality sandbox using openvr for HTC Vive and Oculus Rift is available
  5. The OpenCL examples in the ExampleBrowser can be enabled using --enable_experimental_opencl

You can still use svn or svn externals using the github git repository: use svn co https://github.com/bulletphysics/bullet3/trunk

Requirements for Bullet 2

A C++ compiler for C++ 2003. The library is tested on Windows, Linux, Mac OSX, iOS, Android, but should likely work on any platform with C++ compiler. Some optional demos require OpenGL 2 or OpenGL 3, there are some non-graphical demos and unit tests too.

Contributors and Coding Style information

https://docs.google.com/document/d/1u9vyzPtrVoVhYqQOGNWUgjRbfwfCdIts_NzmvgiJ144/edit

Requirements for experimental OpenCL GPGPU support

The entire collision detection and rigid body dynamics can be executed on the GPU.

A high-end desktop GPU, such as an AMD Radeon 7970 or NVIDIA GTX 680 or better. We succesfully tested the software under Windows, Linux and Mac OSX. The software currently doesn't work on OpenCL CPU devices. It might run on a laptop GPU but performance will not likely be very good. Note that often an OpenCL drivers fails to compile a kernel. Some unit tests exist to track down the issue, but more work is required to cover all OpenCL kernels.

License

All source code files are licensed under the permissive zlib license (http://opensource.org/licenses/Zlib) unless marked differently in a particular folder/file.

Build instructions for Bullet using premake. You can also use cmake instead.

Windows

Click on build_visual_studio_vr_pybullet_double.bat and open build3/vs2010/0MySolution.sln When asked, convert the projects to a newer version of Visual Studio. If you installed Python in the C:\ root directory, the batch file should find it automatically. Otherwise, edit this batch file to choose where Python include/lib directories are located.

Windows Virtual Reality sandbox for HTC Vive and Oculus Rift

Build and run the App_SharedMemoryPhysics_VR project, preferably in Release/optimized build. You can connect from Python pybullet to the sandbox using:

import pybullet as p
p.connect(p.SHARED_MEMORY) #or (p.TCP, "localhost", 6667) or (p.UDP, "192.168.86.10",1234)

Linux and Mac OSX gnu make

Make sure cmake is installed (sudo apt-get install cmake, brew install cmake, or https://cmake.org)

In a terminal type:

./build_cmake_pybullet_double.sh

This script will invoke cmake and build in the build_cmake directory. You can find pybullet in Bullet/examples/pybullet. The BulletExampleBrowser binary will be in Bullet/examples/ExampleBrowser.

You can also build Bullet using premake. There are premake executables in the build3 folder. Depending on your system (Linux 32bit, 64bit or Mac OSX) use one of the following lines Using premake:

	cd build3
	./premake4_linux gmake --double
	./premake4_linux64 gmake --double
	./premake4_osx gmake --double --enable_pybullet

Then

	cd gmake
	make

Note that on Linux, you need to use cmake to build pybullet, since the compiler has issues of mixing shared and static libraries.

Mac OSX Xcode

Click on build3/xcode4.command or in a terminal window execute

./premake_osx xcode4

Usage

The App_ExampleBrowser executables will be located in the bin folder. You can just run it though a terminal/command prompt, or by clicking it.

[--start_demo_name="Demo Name"]     Start with a selected demo  
[--mp4=moviename.mp4]               Create a mp4 movie of the window, requires ffmpeg installed
[--mouse_move_multiplier=0.400000]  Set the mouse move sensitivity
[--mouse_wheel_multiplier=0.01]     Set the mouse wheel sensitivity
[--background_color_red= 0.9]       Set the red component for background color. Same for green and blue
[--fixed_timestep= 0.0]             Use either a real-time delta time (0.0) or a fixed step size (0.016666)

You can use mouse picking to grab objects. When holding the ALT or CONTROL key, you have Maya style camera mouse controls. Press F1 to create a series of screenshots. Hit ESCAPE to exit the demo app.

Check out the docs folder and the Bullet physics forums for further information.