rubullet 0.1.0-alpha-3

//! A Rust interface for Bullet physics inspired by PyBullet.
//!
//! # Example
//! ```no_run
//! 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", None)?;
//!
//!     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(())
//! }
//! ```
pub use crate::{
    client::PhysicsClient,
    error::Error,
    mode::Mode,
    server::{PhysicsServer, ServerMode},
    types::{
        Aabb, ActivationState, AddDebugLineOptions, AddDebugTextOptions, BodyId, BodyInfo,
        BodyType, CameraImageOptions, ChangeConstraintOptions, ChangeDynamicsOptions,
        ChangeVisualShapeOptions, CollisionId, ConstraintId, ConstraintInfo, ConstraintSolverType,
        ContactPoint, ControlCommand, ControlCommandArray, DebugVisualizerCameraInfo,
        DebugVisualizerFlag, DynamicsInfo, ExternalForceFrame, GeometricCollisionShape,
        GeometricVisualShape, IkSolver, Images, InverseKinematicsNullSpaceParameters,
        InverseKinematicsParameters, InverseKinematicsParametersBuilder, ItemId, Jacobian,
        JointFeedbackMode, JointInfo, JointInfoFlags, JointState, JointType, KeyboardEvent,
        LinkState, LoadModelFlags, LogFlags, LogId, LoggingType, MouseButtonState, MouseEvent,
        MultiBodyOptions, OverlappingObject, PhysicsEngineParameters, RayHitInfo,
        RayTestBatchOptions, RayTestOptions, Renderer, RendererAuxFlags, ResetFlags, SdfOptions,
        SetPhysicsEngineParameterOptions, SoftBodyOptions, StateId, StateLoggingOptions, TextureId,
        UrdfOptions, Velocity, VisualId, VisualShapeData, VisualShapeFlags, VisualShapeOptions,
    },
};
pub use image;
pub use nalgebra;
mod client;
mod error;
pub mod logging_utils;
mod mode;
mod server;
mod types;