Struct PhysicsClient 

pub struct PhysicsClient { /* private fields */ }

Implementations

impl PhysicsClient

! =====================================================================================================================================

Connection & Session

API	Status	Notes
connect	Implemented	PhysicsClient::connect covers all modes in scope
disconnect	Implemented	PhysicsClient::disconnectPhysicsServer + Drop
getConnectionInfo	Implemented	Requires client/server introspection
isConnected	Implemented	Uses b3CanSubmitCommand

pub fn connect(mode: Mode) -> BulletResult<Self>

Connect to an existing physics server (using shared memory by default).

• connect(method, key=SHARED_MEMORY_KEY, options=‘’)
• connect(method, hostname=‘localhost’, port=1234, options=‘’)

pub fn get_connection_info(&mut self) -> BulletResult<String>

pub fn disconnect(self)

“Disconnect from the physics server.”

pub fn is_connected(&mut self) -> bool

impl PhysicsClient

! =====================================================================================================================================

Simulation Parameters

API	Status	Notes
resetSimulation	Implemented	Core reset command
stepSimulation	Implemented	Core stepping command
performCollisionDetection	Implemented	Extra collision command
setGravity	Implemented	Physics param command
setTimeStep	Implemented	Physics param command
setDefaultContactERP	Implemented	Physics param command
setRealTimeSimulation	Implemented	Physics param command
setPhysicsEngineParameter	Implemented	Bulk physics-param configuration
getPhysicsEngineParameters	Implemented	Query mirror of above
setInternalSimFlags	Implemented	Expert-only flagging

pub fn reset_simulation(&mut self) -> BulletResult<()>

reset_simulation will remove all objects from the world and reset the world to initial conditions.

pub fn step_simulation(&mut self) -> BulletResult<()>

Performs all the actions in a single forward dynamics simulation step such as collision detection, constraint solving, and integration. TODO: Return analytics data?

pub fn perform_collision_detection(&mut self) -> BulletResult<()>

pub fn set_gravity( &mut self, grav: impl Into<[f64; 3]>, ) -> BulletResult<&mut Self>

Sets the default gravity force for all objects.

By default, there is no gravitational force enabled.

Arguments

• gravity - a gravity vector. Can be a [f64;3]-array or anything else that can be converted into [f64; 3].

pub fn set_time_step(&mut self, time_step: Duration) -> BulletResult<&mut Self>

Warning: in many cases it is best to leave the timeStep to default, which is 240Hz. Several parameters are tuned with this value in mind. For example the number of solver iterations and the error reduction parameters (erp) for contact, friction and non-contact joints are related to the time step. If you change the time step, you may need to re-tune those values accordingly, especially the erp values.

You can set the physics engine timestep that is used when calling step_simulation. It is best to only call this method at the start of a simulation. Don’t change this time step regularly.

pub fn set_default_contact_erp( &mut self, default_contact_erp: f64, ) -> BulletResult<&mut Self>

Update the global default contact ERP (error reduction parameter).

pub fn set_real_time_simulation( &mut self, enable: bool, ) -> BulletResult<&mut Self>

By default, the physics server will not step the simulation, unless you explicitly send a step_simulation command. This way you can maintain control determinism of the simulation It is possible to run the simulation in real-time by letting the physics server automatically step the simulation according to its real-time-clock (RTC) using the set_real_time_simulation command. If you enable the real-time simulation, you don’t need to call step_simulation.

Note that set_real_time_simulation has no effect in Direct mode : in Direct mode mode the physics server and client happen in the same thread and you trigger every command. In Gui mode and in Virtual Reality mode, and TCP/UDP mode, the physics server runs in a separate thread from the client (RuBullet), and set_real_time_simulation allows the physics server thread to add additional calls to step_simulation.

Arguments

• enable_real_time_simulation - activates or deactivates real-time simulation

pub fn set_physics_engine_parameter( &mut self, update: &PhysicsEngineParametersUpdate, ) -> BulletResult<&mut Self>

Apply a batch of physics engine parameters, mirroring PyBullet’s setPhysicsEngineParameter.

pub fn get_physics_engine_parameters( &mut self, ) -> BulletResult<PhysicsEngineParameters>

Query the current physics simulation parameters from the server.

pub fn set_internal_sim_flags(&mut self, flags: i32) -> BulletResult<&mut Self>

Set internal simulation flags (expert-level API).

impl PhysicsClient

pub fn load_urdf( &mut self, file: impl AsRef<Path>, options: Option<impl Into<UrdfOptions>>, ) -> BulletResult<i32>

Sends a command to the physics server to load a physics model from a Unified Robot Description Format (URDF) model.

Arguments

• file - a relative or absolute path to the URDF file on the file system of the physics server
• options - use additional options like global_scaling and use_maximal_coordinates for loading the URDF-file. See UrdfOptions.

Example

use rsbullet_core::*;
fn main() -> BulletResult<&mut Self> {
    let mut physics_client = PhysicsClient::connect(Mode::Direct)?;
    physics_client.set_additional_search_path(PhysicsClient::bullet_data_path())?;
    let cube = physics_client.load_urdf("cube.urdf", None)?;
    assert_eq!("baseLink", physics_client.get_body_info(cube)?.base_name);
    for i in 0..10 {
        let _cube = physics_client.load_urdf(
            "cube.urdf",
            None,
        )?;
    }
    assert_eq!(11, physics_client.get_num_bodies());
    Ok(())
}

pub fn load_sdf( &mut self, file: impl AsRef<Path>, options: impl Into<Option<SdfOptions>>, ) -> BulletResult<Vec<i32>>

Sends a command to the physics server to load a physics model from a Simulation Description Format (SDF) model.

Arguments

• file - a relative or absolute path to the SDF file on the file system of the physics server.
• options - use additional options like global_scaling and use_maximal_coordinates for loading the SDF-file. See SdfOptions.

Return

Returns a list of unique body id’s

Example

use rsbullet_core::*;
fn main() -> BulletResult<&mut Self> {
    let mut physics_client = PhysicsClient::connect(Mode::Direct)?;
    physics_client.set_additional_search_path(PhysicsClient::bullet_data_path())?;
    let cubes = physics_client.load_sdf("two_cubes.sdf", None)?;
    assert_eq!(3, cubes.len()); // 2 cubes + 1 plane
    Ok(())
}

pub fn load_mjcf( &mut self, file: impl AsRef<Path>, options: impl Into<Option<MjcfOptions>>, ) -> BulletResult<Vec<i32>>

Sends a command to the physics server to load a physics model from a MuJoCo model.

Arguments

• file - a relative or absolute path to the MuJoCo file on the file system of the physics server.
• flags - Flags for loading the model. Set to None if you do not whish to provide any.

Return

Returns a list of unique body id’s

Example

use rsbullet_core::*;
fn main() -> BulletResult<&mut Self> {
    let mut physics_client = PhysicsClient::connect(Mode::Direct)?;
    physics_client.set_additional_search_path(PhysicsClient::bullet_data_path())?;
    let stadium = physics_client.load_mjcf("mjcf/hello_mjcf.xml", None)?;
    assert_eq!(2, stadium.len()); // 1 cube + 1 plane

    let plane = physics_client.load_mjcf("mjcf/ground_plane.xml", LoadModelFlags::URDF_ENABLE_CACHED_GRAPHICS_SHAPES)?;
    assert_eq!(1, plane.len());
    Ok(())
}

pub fn load_bullet(&mut self, file: impl AsRef<Path>) -> BulletResult<Vec<i32>>

Loads Bodies from a .bullet file. These can be created with save_bullet.

Returns a list of BodyId’s.

Arguments

• bullet_filename - location of the .bullet

Example

    let points = physics_client.load_bullet("spider.bullet")?;

See also save_and_restore.rs example.

pub fn save_bullet(&mut self, file: impl AsRef<Path>) -> BulletResult<()>

Saves all bodies and the current state into a .bullet file which can then be read by load_bullet or restore_state_from_file. See also save_and_restore.rs example.

pub fn save_world(&mut self, file: impl AsRef<Path>) -> BulletResult<()>

pub fn restore_state( &mut self, state_id: Option<i32>, file: Option<impl AsRef<Path>>, ) -> BulletResult<()>

restores a state from memory using a state id which was created with save_state. See save_and_restore.rs example.

pub fn save_state(&mut self) -> BulletResult<i32>

Saves the current state in memory and returns a StateId which can be used by restore_state to restore this state. Use save_bullet if you want to save a state to a file. See save_and_restore.rs example.

pub fn remove_state(&mut self, state_id: i32) -> BulletResult<()>

Removes a state from memory.

pub fn set_default_search_path(&mut self) -> BulletResult<&mut Self>

pub fn set_additional_search_path( &mut self, path: impl AsRef<Path>, ) -> BulletResult<&mut Self>

pub fn bullet_data_path() -> PathBuf

impl PhysicsClient

! =====================================================================================================================================

Asset Creation & Mutation

API	Status	Notes
createCollisionShape	Implemented	Supports primitive/mesh geometry
createCollisionShapeArray	Implemented	Compound shape builder
removeCollisionShape	Implemented	Clean-up helper
getMeshData	Pending	Mesh inspection
getTetraMeshData	Pending	Soft-body mesh
resetMeshData	Optional	Deformable specific
createVisualShape	Implemented	Visual geometry authoring
createVisualShapeArray	Implemented	Bulk visual authoring
createMultiBody	Implemented	Procedural multibody build
createConstraint	Implemented	Constraint authoring
changeConstraint	Implemented	Constraint mutation
removeConstraint	Implemented	Constraint teardown
enableJointForceTorqueSensor	Implemented	Sensor toggle
removeBody	Implemented	Body teardown
getNumConstraints	Implemented	Constraint enumeration
getConstraintInfo	Implemented	Constraint query
getConstraintState	Implemented	Constraint forces
getConstraintUniqueId	Implemented	Constraint enumeration
changeVisualShape	Implemented	Visual mutation
resetVisualShapeData	Pending	Legacy alias
loadTexture	Implemented	Visual assets
changeTexture	Implemented	Visual assets

pub fn create_collision_shape( &mut self, geometry: &CollisionGeometry<'_>, options: Option<impl Into<CollisionShapeOptions>>, ) -> BulletResult<i32>

You can create a collision shape in a similar way to creating a visual shape. If you have both you can use them to create objects in RuBullet.

Arguments

• shape - A geometric body from which to create the shape
• frame_offset - offset of the shape with respect to the link frame. Default is no offset.

Return

Returns a unique CollisionId which can then be used to create a body.

See also

• create_visual_shape
• create_multi_body

pub fn create_collision_shape_array( &mut self, options: &[(CollisionGeometry<'_>, impl Clone + Into<CollisionShapeOptions>)], ) -> BulletResult<i32>

pub fn remove_collision_shape( &mut self, collision_shape_id: i32, ) -> BulletResult<()>

pub fn create_visual_shape( &mut self, geometry: &VisualGeometry<'_>, options: Option<impl Into<VisualShapeOptions>>, ) -> BulletResult<i32>

You can create a visual shape in a similar way to creating a collision shape, with some additional arguments to control the visual appearance, such as diffuse and specular color. When you use the GeometricVisualShape::MeshFile type, you can point to a Wavefront OBJ file, and the visual shape will parse some parameters from the material file (.mtl) and load a texture. Note that large textures (above 1024x1024 pixels) can slow down the loading and run-time performance.

Arguments

• shape - A geometric body from which to create the shape
• options - additional options to specify, like colors. See VisualShapeOptions for details.

Return

Returns a unique VisualId which can then be used to create a body.

See also

• create_collision_shape
• create_multi_body

pub fn create_visual_shape_array( &mut self, options: &[(VisualGeometry<'_>, Option<VisualShapeOptions>)], ) -> BulletResult<i32>

pub fn change_visual_shape( &mut self, body_unique_id: i32, link_index: i32, options: &ChangeVisualShapeOptions, ) -> BulletResult<&mut Self>

pub fn create_multi_body( &mut self, options: &MultiBodyCreateOptions<'_>, ) -> BulletResult<i32>

pub fn create_constraint( &mut self, options: &ConstraintCreateOptions, ) -> BulletResult<i32>

pub fn change_constraint( &mut self, constraint_id: i32, update: &ConstraintUpdate, ) -> BulletResult<&mut Self>

pub fn remove_constraint(&mut self, constraint_id: i32) -> BulletResult<()>

pub fn enable_joint_force_torque_sensor( &mut self, body_unique_id: i32, joint_index: i32, enable: bool, ) -> BulletResult<()>

pub fn remove_body(&mut self, body_unique_id: i32) -> BulletResult<()>

pub fn get_num_constraints(&self) -> i32

pub fn get_constraint_info( &self, constraint_id: i32, ) -> BulletResult<ConstraintInfo>

pub fn get_constraint_state( &mut self, constraint_id: i32, ) -> BulletResult<ConstraintState>

pub fn get_constraint_unique_id(&self, index: i32) -> Option<i32>

pub fn load_texture(&mut self, filename: &str) -> BulletResult<i32>

pub fn change_texture( &mut self, texture_id: i32, data: &TextureData<'_>, ) -> BulletResult<()>

impl PhysicsClient

! =====================================================================================================================================

Bodies, Joints & Base State

API	Status	Notes
getNumBodies	Implemented	Enumeration helper
getBodyUniqueId	Implemented	Enumeration helper
getBodyInfo	Implemented	Names cached
computeDofCount	Implemented	Useful with dynamics
syncBodyInfo	Implemented	Multi-client support
syncUserData	Implemented	Multi-client support
addUserData	Implemented	User data authoring
getUserData	Implemented	User data query
removeUserData	Implemented	User data cleanup
getUserDataId	Implemented	User data query
getNumUserData	Implemented	User data query
getUserDataInfo	Implemented	User data query
getBasePositionAndOrientation	Implemented	Uses actual state request
getAABB	Implemented	Contact bounds
resetBasePositionAndOrientation	Implemented	World authoring priority
unsupportedChangeScaling	Optional	Rudimentary scaling
getBaseVelocity	Implemented	Uses actual state request
resetBaseVelocity	Implemented	Dynamics priority
getNumJoints	Implemented	Joint enumeration
getJointInfo	Implemented	Joint metadata
getJointState	Implemented	Single joint sensor
getJointStates	Implemented	Batch sensor support
getJointStateMultiDof	Implemented	Multi-DoF sensor
getJointStatesMultiDof	Implemented	Multi-DoF batch
getLinkState	Implemented	Forward kinematics
getLinkStates	Implemented	Batch link state
resetJointState	Implemented	World authoring priority
resetJointStateMultiDof	Implemented	Multi-DoF reset
resetJointStatesMultiDof	Implemented	Multi-DoF batch reset

pub fn compute_dof_count(&self, body_unique_id: i32) -> i32

pub fn sync_body_info(&mut self) -> BulletResult<()>

pub fn sync_user_data( &mut self, body_unique_ids: Option<&[i32]>, ) -> BulletResult<()>

pub fn add_user_data( &mut self, body_unique_id: i32, key: &str, value: &str, link_index: Option<i32>, visual_shape_index: Option<i32>, ) -> BulletResult<i32>

pub fn remove_user_data(&mut self, user_data_id: i32) -> BulletResult<()>

pub fn get_user_data_id( &self, body_unique_id: i32, key: &str, link_index: Option<i32>, visual_shape_index: Option<i32>, ) -> BulletResult<Option<i32>>

pub fn get_user_data(&self, user_data_id: i32) -> BulletResult<Option<String>>

pub fn get_num_user_data(&self, body_unique_id: i32) -> BulletResult<i32>

pub fn get_user_data_info( &self, body_unique_id: i32, user_data_index: i32, ) -> BulletResult<UserDataInfo>

pub fn get_aabb( &mut self, body_unique_id: i32, link_index: i32, ) -> BulletResult<Aabb>

pub fn reset_base_position_and_orientation( &mut self, body_unique_id: i32, position: [f64; 3], orientation: [f64; 4], ) -> BulletResult<()>

pub fn reset_base_velocity( &mut self, body_unique_id: i32, linear_velocity: Option<[f64; 3]>, angular_velocity: Option<[f64; 3]>, ) -> BulletResult<()>

pub fn get_num_bodies(&self) -> i32

pub fn get_body_unique_id(&self, serial_index: i32) -> i32

pub fn get_body_info(&self, body_unique_id: i32) -> BulletResult<BodyInfo>

pub fn get_num_joints(&self, body_unique_id: i32) -> i32

pub fn get_joint_info( &self, body_unique_id: i32, joint_index: i32, ) -> BulletResult<JointInfo>

pub fn get_joint_state( &mut self, body_unique_id: i32, joint_index: i32, ) -> BulletResult<JointState>

pub fn get_joint_states( &mut self, body_unique_id: i32, joint_indices: &[i32], ) -> BulletResult<Vec<JointState>>

pub fn get_joint_state_multi_dof( &mut self, body_unique_id: i32, joint_index: i32, ) -> BulletResult<JointStateMultiDof>

pub fn get_joint_states_multi_dof( &mut self, body_unique_id: i32, joint_indices: &[i32], ) -> BulletResult<Vec<JointStateMultiDof>>

pub fn get_base_position_and_orientation( &mut self, body_unique_id: i32, ) -> BulletResult<Isometry3<f64>>

pub fn get_base_velocity( &mut self, body_unique_id: i32, ) -> BulletResult<[f64; 6]>

pub fn get_link_state( &mut self, body_unique_id: i32, link_index: i32, compute_forward_kinematics: bool, compute_link_velocity: bool, ) -> BulletResult<LinkState>

pub fn get_link_states( &mut self, body_unique_id: i32, link_indices: &[i32], compute_forward_kinematics: bool, compute_link_velocity: bool, ) -> BulletResult<Vec<LinkState>>

pub fn reset_joint_state( &mut self, body_unique_id: i32, joint_index: i32, target_position: f64, target_velocity: Option<f64>, ) -> BulletResult<()>

pub fn reset_joint_state_multi_dof( &mut self, body_unique_id: i32, joint_index: i32, positions: Option<&[f64]>, velocities: Option<&[f64]>, ) -> BulletResult<()>

pub fn reset_joint_states_multi_dof( &mut self, body_unique_id: i32, targets: &[MultiDofTarget<'_>], ) -> BulletResult<()>

impl PhysicsClient

! =====================================================================================================================================

Dynamics & Control

API	Status	Notes
changeDynamics	Implemented	Mutation wrapper
getDynamicsInfo	Implemented	Mirrors Bullet query
setJointMotorControl	Optional	Legacy single-call (deprecated)
setJointMotorControl2	Implemented	Primary motor control path
setJointMotorControlMultiDof	Implemented	Multi-DoF control
setJointMotorControlMultiDofArray	Implemented	Multi-DoF batch control
setJointMotorControlArray	Implemented	Batch joint control
applyExternalForce	Implemented	Core dynamics action
applyExternalTorque	Implemented	Core dynamics action
calculateInverseDynamics	Implemented	Advanced dynamics
calculateJacobian	Implemented	Advanced dynamics
calculateMassMatrix	Implemented	Advanced dynamics
calculateInverseKinematics	Implemented	Depends on jacobians
calculateInverseKinematics2	Implemented	Multi-end-effector variant

pub fn change_dynamics( &mut self, body_unique_id: i32, link_index: i32, update: &DynamicsUpdate, ) -> BulletResult<()>

pub fn get_dynamics_info( &mut self, body_unique_id: i32, link_index: i32, ) -> BulletResult<DynamicsInfo>

pub fn set_joint_motor_control( &mut self, body_unique_id: i32, joint_index: i32, control_mode: ControlMode, maximum_force: Option<f64>, ) -> BulletResult<()>

pub fn set_joint_motor_control_array( &mut self, body_unique_id: i32, joint_index: &[i32], control_mode: ControlModeArray<'_>, maximum_force: Option<&[f64]>, ) -> BulletResult<()>

pub fn set_joint_motor_control_multi_dof( &mut self, body_unique_id: i32, joint_index: i32, control: &MultiDofControl<'_>, ) -> BulletResult<()>

pub fn set_joint_motor_control_multi_dof_array( &mut self, body_unique_id: i32, entries: &[MultiDofControlEntry<'_>], ) -> BulletResult<()>

pub fn apply_external_force( &mut self, body_unique_id: i32, link_index: i32, force: impl Into<[f64; 3]>, position: impl Into<[f64; 3]>, frame: ForceFrame, ) -> BulletResult<()>

pub fn apply_external_torque( &mut self, body_unique_id: i32, link_index: i32, torque: impl Into<[f64; 3]>, frame: ForceFrame, ) -> BulletResult<()>

pub fn calculate_inverse_dynamics( &mut self, body_unique_id: i32, joint_positions: &[f64], joint_velocities: &[f64], joint_accelerations: &[f64], ) -> BulletResult<Vec<f64>>

pub fn calculate_jacobian( &mut self, body_unique_id: i32, link_index: i32, local_position: [f64; 3], joint_positions: &[f64], joint_velocities: &[f64], joint_accelerations: &[f64], ) -> BulletResult<Jacobian>

pub fn calculate_mass_matrix( &mut self, body_unique_id: i32, joint_positions: &[f64], ) -> BulletResult<MassMatrix>

pub fn calculate_inverse_kinematics( &mut self, body_unique_id: i32, end_effector_link_index: i32, target_position: impl Into<Isometry3<f64>>, options: &InverseKinematicsOptions<'_>, ) -> BulletResult<Vec<f64>>

pub fn calculate_inverse_kinematics2( &mut self, body_unique_id: i32, options: &InverseKinematicsMultiTargetOptions<'_>, ) -> BulletResult<Vec<f64>>

impl PhysicsClient

! =====================================================================================================================================

Collision Queries & Contact Data

API	Status	Notes
getContactPoints	Implemented	Returns per-contact data
getClosestPoints	Implemented	Distance queries
getOverlappingObjects	Implemented	AABB queries
setCollisionFilterPair	Implemented	Collision filtering
setCollisionFilterGroupMask	Implemented	Collision filtering
rayTest	Implemented	Single raycast
rayTestBatch	Implemented	Batch raycasts

pub fn get_contact_points( &mut self, body_a: Option<i32>, body_b: Option<i32>, link_a: Option<i32>, link_b: Option<i32>, ) -> BulletResult<Vec<ContactPoint>>

pub fn get_closest_points( &mut self, body_a: i32, body_b: i32, distance: f64, options: &ClosestPointsOptions, ) -> BulletResult<Vec<ClosestPoint>>

pub fn get_overlapping_objects( &mut self, aabb_min: [f64; 3], aabb_max: [f64; 3], ) -> BulletResult<Vec<OverlappingObject>>

pub fn set_collision_filter_pair( &mut self, body_a: i32, body_b: i32, link_a: i32, link_b: i32, enable_collision: bool, ) -> BulletResult<&mut Self>

pub fn set_collision_filter_group_mask( &mut self, body_unique_id: i32, link_index: i32, collision_filter_group: i32, collision_filter_mask: i32, ) -> BulletResult<&mut Self>

pub fn ray_test( &mut self, ray_from: [f64; 3], ray_to: [f64; 3], collision_filter_mask: Option<i32>, report_hit_number: Option<i32>, ) -> BulletResult<Vec<RayHit>>

pub fn ray_test_batch( &mut self, options: &RayTestBatchOptions<'_>, ) -> BulletResult<Vec<RayHit>>

impl PhysicsClient

! =====================================================================================================================================

Rendering, Debug & Visualization

API	Status	Notes
renderImage	Pending	Obsolete; low priority
getCameraImage	Implemented	High effort (buffers)
isNumpyEnabled	Pending	Simple flag query
computeViewMatrix	Implemented	Math helper
computeViewMatrixFromYawPitchRoll	Implemented	Math helper
computeProjectionMatrix	Implemented	Math helper
computeProjectionMatrixFOV	Implemented	Math helper
addUserDebugLine	Implemented	Debug draw
addUserDebugPoints	Implemented	Debug draw
addUserDebugText	Implemented	Debug draw
addUserDebugParameter	Implemented	GUI slider/button
readUserDebugParameter	Implemented	GUI feedback
removeUserDebugItem	Implemented	Debug cleanup
removeAllUserDebugItems	Implemented	Debug cleanup
removeAllUserParameters	Implemented	Debug cleanup
setDebugObjectColor	Implemented	Debug override
getDebugVisualizerCamera	Implemented	Visualizer query
configureDebugVisualizer	Implemented	Visualizer toggle
resetDebugVisualizerCamera	Implemented	Visualizer camera
getVisualShapeData	Implemented	Visual query
getCollisionShapeData	Implemented	Collision query

pub fn get_camera_image( &mut self, request: &CameraImageOptions, ) -> BulletResult<CameraImage>

pub fn compute_view_matrix( camera_eye_position: [f32; 3], camera_target_position: [f32; 3], camera_up_vector: [f32; 3], ) -> [f32; 16]

pub fn compute_view_matrix_from_yaw_pitch_roll( camera_target_position: [f32; 3], distance: f32, yaw: f32, pitch: f32, roll: f32, up_axis: i32, ) -> [f32; 16]

pub fn compute_projection_matrix( left: f32, right: f32, bottom: f32, top: f32, near_val: f32, far_val: f32, ) -> [f32; 16]

pub fn compute_projection_matrix_fov( fov: f32, aspect: f32, near_val: f32, far_val: f32, ) -> [f32; 16]

pub fn add_user_debug_line( &mut self, options: &DebugLineOptions, ) -> BulletResult<i32>

pub fn add_user_debug_points( &mut self, options: &DebugPointsOptions<'_>, ) -> BulletResult<i32>

pub fn add_user_debug_text( &mut self, options: &DebugTextOptions<'_>, ) -> BulletResult<i32>

pub fn add_user_debug_parameter( &mut self, options: &DebugParameterOptions<'_>, ) -> BulletResult<i32>

pub fn read_user_debug_parameter( &mut self, parameter_id: i32, ) -> BulletResult<f64>

pub fn remove_user_debug_item( &mut self, item_unique_id: i32, ) -> BulletResult<()>

pub fn remove_all_user_debug_items(&mut self) -> BulletResult<()>

pub fn remove_all_user_parameters(&mut self) -> BulletResult<()>

pub fn set_debug_object_color( &mut self, object_unique_id: i32, link_index: i32, color: Option<[f64; 3]>, ) -> BulletResult<&mut Self>

pub fn get_debug_visualizer_camera( &mut self, ) -> BulletResult<DebugVisualizerCamera>

pub fn configure_debug_visualizer( &mut self, options: &DebugVisualizerOptions, ) -> BulletResult<&mut Self>

pub fn reset_debug_visualizer_camera( &mut self, options: &ResetDebugVisualizerCameraOptions, ) -> BulletResult<&mut Self>

pub fn get_visual_shape_data( &mut self, object_unique_id: i32, ) -> BulletResult<Vec<VisualShapeData>>

pub fn get_collision_shape_data( &mut self, object_unique_id: i32, link_index: Option<i32>, ) -> BulletResult<Vec<CollisionShapeData>>

impl PhysicsClient

! =====================================================================================================================================

VR, Input, Logging, Plugins & Misc

API	Status	Notes
getVREvents	Implemented	VR input
setVRCameraState	Implemented	VR camera
getKeyboardEvents	Implemented	Input polling
getMouseEvents	Implemented	Input polling
startStateLogging	Implemented	Logging
stopStateLogging	Implemented	Logging
loadPlugin	Implemented	Plugin system
unloadPlugin	Implemented	Plugin system
executePluginCommand	Implemented	Plugin system
submitProfileTiming	Implemented	Profiling
setTimeOut	Implemented	Client timeout
getAPIVersion	Implemented	Static constant

pub fn get_vr_events( &mut self, options: &VrEventsOptions, ) -> BulletResult<Vec<VrControllerEvent>>

pub fn set_vr_camera_state( &mut self, options: &VrCameraStateOptions, ) -> BulletResult<&mut Self>

pub fn get_keyboard_events(&mut self) -> BulletResult<Vec<KeyboardEvent>>

pub fn get_mouse_events(&mut self) -> BulletResult<Vec<MouseEvent>>

pub fn start_state_logging( &mut self, logging_type: LoggingType, file_name: impl AsRef<Path>, options: Option<impl Into<StateLoggingOptions>>, ) -> BulletResult<i32>

pub fn stop_state_logging(&mut self, logging_id: i32) -> BulletResult<&mut Self>

pub fn load_plugin( &mut self, plugin_path: &str, postfix: Option<&str>, ) -> BulletResult<i32>

pub fn unload_plugin(&mut self, plugin_unique_id: i32) -> BulletResult<()>

pub fn execute_plugin_command( &mut self, options: &PluginCommandOptions<'_>, ) -> BulletResult<PluginCommandResult>

pub fn submit_profile_timing( &mut self, event_name: Option<&str>, ) -> BulletResult<()>

pub fn set_time_out(&mut self, time_out_seconds: f64) -> BulletResult<&mut Self>

pub fn get_api_version(&self) -> i32

Trait Implementations

impl Drop for PhysicsClient

fn drop(&mut self)

Executes the destructor for this type.