mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-12 21:00:11 +00:00
142 lines
5.8 KiB
Markdown
142 lines
5.8 KiB
Markdown
[](https://travis-ci.org/bulletphysics/bullet3)
|
|
[](https://ci.appveyor.com/project/erwincoumans/bullet3)
|
|
|
|
# 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.
|
|
|
|
|
|
|
|
## PyBullet ##
|
|
New in Bullet 2.85: pybullet Python bindings, improved support for robotics and VR. Use pip install pybullet and checkout the [PyBullet Quickstart Guide](https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA/edit#heading=h.2ye70wns7io3).
|
|
|
|
Installation is simple:
|
|
```
|
|
pip3 install pybullet --upgrade --user
|
|
python3 -m pybullet_envs.examples.enjoy_TF_AntBulletEnv_v0_2017may
|
|
python3 -m pybullet_envs.examples.enjoy_TF_HumanoidFlagrunHarderBulletEnv_v1_2017jul
|
|
python3 -m pybullet_envs.deep_mimic.testrl --arg_file run_humanoid3d_backflip_args.txt
|
|
```
|
|
|
|
If you use PyBullet in your research, please cite it like this:
|
|
|
|
```
|
|
@MISC{coumans2019,
|
|
author = {Erwin Coumans and Yunfei Bai},
|
|
title = {PyBullet, a Python module for physics simulation for games, robotics and machine learning},
|
|
howpublished = {\url{http://pybullet.org}},
|
|
year = {2016--2019}
|
|
}
|
|
```
|
|
|
|
## Requirements for Bullet Physics C++
|
|
|
|
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 vcpkg
|
|
|
|
You can download and install Bullet using the [vcpkg](https://github.com/Microsoft/vcpkg/) dependency manager:
|
|
|
|
git clone https://github.com/Microsoft/vcpkg.git
|
|
cd vcpkg
|
|
./bootstrap-vcpkg.sh
|
|
./vcpkg integrate install
|
|
vcpkg install bullet3
|
|
|
|
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.
|
|
|
|
## 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/vs2010/0_Bullet3Solution.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 --double gmake
|
|
./premake4_linux64 --double gmake
|
|
./premake4_osx --double --enable_pybullet gmake
|
|
```
|
|
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.
|