Readme

This project is a fork of the rubullet project. As the original repository has not been updated for over five years, further maintenance, updates, and customization requirements are being carried out here. The readme file of the original warehouse can be found below.

Compared to the 100 APIs implemented in the original library, we have additionally implemented all the APIs in pybullet 3.2.7. This enables you to smoothly migrate from pybullet to rsbullet, simply by changing the API names to snake_case. you can read API documentation in the RSBULLET_API_REFERENCE.md.

We have prepared a series of examples which can be referred to examples.

GitHub Workflow Status

RuBullet

RuBullet is a Rust implementation of PyBullet. In other words, it uses the Bullet3 C API in order to expose a functionality that is similar to PyBullet. Development is ongoing and functionality is currently limited.

Status

Right now RuBullet should cover most of the basic use cases. It can:

Create a PhysicsClient in Direct, Gui or other modes
Load models from URDF, SDF, MuJoCo or Bullet files
Create own models within the simulation
Control robots in position, velocity or torque mode
Calculate inverse dynamics, inverse kinematics, jacobians and mass matrices
Render camera images
Read information about links and joints
Change dynamics of a body
Create GUI sliders, buttons or put debugging text or lines in the simulation
Get keyboard and mouse events
Create and manage constraints
Logging
Saving states and loading states
Set physics engine parameters
Collision Detection Queries
Deformables and Cloth

Things which are not implemented yet:

Everything MultiDOF related
Virtual Reality
Plugins

The API is unstable and subject to change.

Example

use std::{thread, time::Duration};

use anyhow::Result;
use nalgebra::{Isometry3, Vector3};
use rubullet::*;

fn main() -> Result<()> {
    let mut physics_client = PhysicsClient::connect(Mode::Gui)?;

    physics_client.set_additional_search_path("../rubullet-sys/bullet3/libbullet3/data")?;
    physics_client.set_gravity(Vector3::new(0.0, 0.0, -10.0));

    let _plane_id = physics_client.load_urdf("plane.urdf", Default::default())?;

    let cube_start_position = Isometry3::translation(0.0, 0.0, 1.0);
    let box_id = physics_client.load_urdf(
        "r2d2.urdf",
        UrdfOptions {
            base_transform: cube_start_position,
            ..Default::default()
        },
    )?;

    for _ in 0..10000 {
        physics_client.step_simulation()?;
        thread::sleep(Duration::from_micros(4167));
    }

    let cube_transform = physics_client.get_base_transform(box_id)?;
    println!("{}", cube_transform);

    Ok(())
}

Bug reports and Merge Requests

The current development happens as a part of marcbone's master thesis. Therefore, merge requests can not be accepted until July 5, 2021. We are disabling merge requests until then which sadly also disables issues. If you find any bugs or have suggestions please write an email to one of the maintainers.

License