rsbullet 0.3.10

Compiles bullet3 and exposes rust bindings to the C API
Documentation 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85

import pybullet as p
import time
import math
import pybullet_data

useGui = True

if useGui:
    p.connect(p.GUI)
else:
    p.connect(p.DIRECT)
p.setAdditionalSearchPath(pybullet_data.getDataPath())

p.configureDebugVisualizer(p.COV_ENABLE_GUI, 0)
# p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)

# p.loadURDF("samurai.urdf")
p.loadURDF("r2d2.urdf", [3, 3, 1])

rayFrom = []
rayTo = []
rayIds = []

numRays = 1024

rayLen = 13

rayHitColor = [1, 0, 0]
rayMissColor = [0, 1, 0]

replaceLines = True

for i in range(numRays):
    rayFrom.append([0, 0, 1])
    rayTo.append(
        [
            rayLen * math.sin(2.0 * math.pi * float(i) / numRays),
            rayLen * math.cos(2.0 * math.pi * float(i) / numRays),
            1,
        ]
    )
    if replaceLines:
        rayIds.append(p.addUserDebugLine(rayFrom[i], rayTo[i], rayMissColor))
    else:
        rayIds.append(-1)

if not useGui:
    timingLog = p.startStateLogging(
        p.STATE_LOGGING_PROFILE_TIMINGS, "rayCastBench.json"
    )

numSteps = 10
if useGui:
    numSteps = 327680

for i in range(numSteps):
    p.stepSimulation()
    for j in range(8):
        results = p.rayTestBatch(rayFrom, rayTo, j + 1)

    # for i in range (10):
    # 	p.removeAllUserDebugItems()

    if useGui:
        if not replaceLines:
            p.removeAllUserDebugItems()

        for i in range(numRays):
            hitObjectUid = results[i][0]

            if hitObjectUid < 0:
                hitPosition = [0, 0, 0]
                p.addUserDebugLine(
                    rayFrom[i], rayTo[i], rayMissColor, replaceItemUniqueId=rayIds[i]
                )
            else:
                hitPosition = results[i][3]
                p.addUserDebugLine(
                    rayFrom[i], hitPosition, rayHitColor, replaceItemUniqueId=rayIds[i]
                )

    # time.sleep(1./240.)

if not useGui:
    p.stopStateLogging(timingLog)