mirror of
https://github.com/bulletphysics/bullet3
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145 lines
6.0 KiB
Markdown
145 lines
6.0 KiB
Markdown
[](https://travis-ci.org/bulletphysics/bullet3)
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[](https://ci.appveyor.com/project/erwincoumans/bullet3)
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# Bullet Physics SDK
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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.
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## Issues ##
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The Issue tracker was flooded with support questions and is closed until it is cleaned up. Use the [PyBullet forums](http://pybullet.org) to discuss with others.
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## PyBullet ##
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It is highly recommended to use PyBullet Python bindings for improved support for robotics, reinforcement learning and VR. Use pip install pybullet and checkout the [PyBullet Quickstart Guide](https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA/edit#heading=h.2ye70wns7io3).
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Installation is simple:
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```
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pip3 install pybullet --upgrade --user
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python3 -m pybullet_envs.examples.enjoy_TF_AntBulletEnv_v0_2017may
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python3 -m pybullet_envs.examples.enjoy_TF_HumanoidFlagrunHarderBulletEnv_v1_2017jul
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python3 -m pybullet_envs.deep_mimic.testrl --arg_file run_humanoid3d_backflip_args.txt
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```
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If you use PyBullet in your research, please cite it like this:
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```
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@MISC{coumans2021,
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author = {Erwin Coumans and Yunfei Bai},
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title = {PyBullet, a Python module for physics simulation for games, robotics and machine learning},
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howpublished = {\url{http://pybullet.org}},
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year = {2016--2021}
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}
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```
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## Requirements for Bullet Physics C++
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A C++ compiler for C++ 2003. The library is tested on Windows, Linux, Mac OSX, iOS, Android,
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but should likely work on any platform with C++ compiler.
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Some optional demos require OpenGL 2 or OpenGL 3, there are some non-graphical demos and unit tests too.
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## Contributors and Coding Style information
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https://docs.google.com/document/d/1u9vyzPtrVoVhYqQOGNWUgjRbfwfCdIts_NzmvgiJ144/edit
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## Requirements for experimental OpenCL GPGPU support
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The entire collision detection and rigid body dynamics can be executed on the GPU.
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A high-end desktop GPU, such as an AMD Radeon 7970 or NVIDIA GTX 680 or better.
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We succesfully tested the software under Windows, Linux and Mac OSX.
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The software currently doesn't work on OpenCL CPU devices. It might run
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on a laptop GPU but performance will not likely be very good. Note that
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often an OpenCL drivers fails to compile a kernel. Some unit tests exist to
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track down the issue, but more work is required to cover all OpenCL kernels.
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## License
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All source code files are licensed under the permissive zlib license
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(http://opensource.org/licenses/Zlib) unless marked differently in a particular folder/file.
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## Build instructions for Bullet using vcpkg
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You can download and install Bullet using the [vcpkg](https://github.com/Microsoft/vcpkg/) dependency manager:
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git clone https://github.com/Microsoft/vcpkg.git
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cd vcpkg
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./bootstrap-vcpkg.sh
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./vcpkg integrate install
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./vcpkg install bullet3
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The Bullet port in vcpkg is kept up to date by Microsoft team members and community contributors. If the version is out of date, please [create an issue or pull request](https://github.com/Microsoft/vcpkg) on the vcpkg repository.
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## Build instructions for Bullet using premake. You can also use cmake instead.
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**Windows**
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Click on build_visual_studio_vr_pybullet_double.bat and open build3/vs2010/0_Bullet3Solution.sln
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When asked, convert the projects to a newer version of Visual Studio.
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If you installed Python in the C:\ root directory, the batch file should find it automatically.
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Otherwise, edit this batch file to choose where Python include/lib directories are located.
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**Windows Virtual Reality sandbox for HTC Vive and Oculus Rift**
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Build and run the App_SharedMemoryPhysics_VR project, preferably in Release/optimized build.
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You can connect from Python pybullet to the sandbox using:
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```
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import pybullet as p
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p.connect(p.SHARED_MEMORY) #or (p.TCP, "localhost", 6667) or (p.UDP, "192.168.86.10",1234)
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```
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**Linux and Mac OSX gnu make**
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Make sure cmake is installed (sudo apt-get install cmake, brew install cmake, or https://cmake.org)
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In a terminal type:
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```
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./build_cmake_pybullet_double.sh
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```
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This script will invoke cmake and build in the build_cmake directory. You can find pybullet in Bullet/examples/pybullet.
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The BulletExampleBrowser binary will be in Bullet/examples/ExampleBrowser.
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You can also build Bullet using premake. There are premake executables in the build3 folder.
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Depending on your system (Linux 32bit, 64bit or Mac OSX) use one of the following lines
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Using premake:
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```
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cd build3
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./premake4_linux --double gmake
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./premake4_linux64 --double gmake
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./premake4_osx --double --enable_pybullet gmake
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```
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Then
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```
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cd gmake
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make
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```
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Note that on Linux, you need to use cmake to build pybullet, since the compiler has issues of mixing shared and static libraries.
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**Mac OSX Xcode**
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Click on build3/xcode4.command or in a terminal window execute
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```
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./premake_osx xcode4
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```
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## Usage
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The App_ExampleBrowser executables will be located in the bin folder.
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You can just run it though a terminal/command prompt, or by clicking it.
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```
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[--start_demo_name="Demo Name"] Start with a selected demo
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[--mp4=moviename.mp4] Create a mp4 movie of the window, requires ffmpeg installed
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[--mouse_move_multiplier=0.400000] Set the mouse move sensitivity
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[--mouse_wheel_multiplier=0.01] Set the mouse wheel sensitivity
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[--background_color_red= 0.9] Set the red component for background color. Same for green and blue
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[--fixed_timestep= 0.0] Use either a real-time delta time (0.0) or a fixed step size (0.016666)
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```
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You can use mouse picking to grab objects. When holding the ALT or CONTROL key, you have Maya style camera mouse controls.
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Press F1 to create a series of screenshots. Hit ESCAPE to exit the demo app.
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Check out the docs folder and the Bullet physics forums for further information.
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