Crate rsbullet_sys

Crate rsbullet_sys

Expand description

Foreign function interface for Bullet C API.

Structs§

Enums§

EnumSharedMemoryServerStatus
eURDF_Flags

Constants§

B3_MAX_NUM_INDICES
B3_MAX_NUM_VERTICES
MAX_RAY_INTERSECTION_BATCH_SIZE_STREAMING
MAX_SDF_BODIES
MAX_VR_ANALOG_AXIS
MAX_VR_BUTTONS
MAX_VR_CONTROLLERS
SHARED_MEMORY_KEY
SHARED_MEMORY_MAGIC_NUMBER
USER_DATA_VALUE_TYPE_BYTES
USER_DATA_VALUE_TYPE_STRING
VR_CAMERA_TRACK_OBJECT_ORIENTATION
VR_CONTROLLER_BUTTON_EVENT
VR_CONTROLLER_MOVE_EVENT
VR_DEVICE_CONTROLLER
VR_DEVICE_GENERIC_TRACKER
VR_DEVICE_HMD
VR_GENERIC_TRACKER_MOVE_EVENT
VR_HMD_MOVE_EVENT

Functions§

b3AddBodyToSyncUserDataRequest^⚠
b3ApplyExternalForce^⚠
b3ApplyExternalForceCommandInit^⚠: Apply external force at the body (or link) center of mass, in world space/Cartesian coordinates.
b3ApplyExternalTorque^⚠
b3CalculateInverseDynamicsCommandInit2^⚠
b3CalculateInverseDynamicsSetFlags^⚠
b3CalculateInverseKinematicsAddTargetPositionWithOrientation^⚠
b3CalculateInverseKinematicsAddTargetPurePosition^⚠
b3CalculateInverseKinematicsAddTargetsPurePosition^⚠
b3CalculateInverseKinematicsCommandInit^⚠
b3CalculateInverseKinematicsPosOrnWithNullSpaceVel^⚠
b3CalculateInverseKinematicsPosWithNullSpaceVel^⚠
b3CalculateInverseKinematicsSelectSolver^⚠
b3CalculateInverseKinematicsSetCurrentPositions^⚠
b3CalculateInverseKinematicsSetJointDamping^⚠
b3CalculateInverseKinematicsSetMaxNumIterations^⚠
b3CalculateInverseKinematicsSetResidualThreshold^⚠
b3CalculateJacobianCommandInit^⚠
b3CalculateMassMatrixCommandInit^⚠
b3CalculateMassMatrixSetFlags^⚠
b3CanSubmitCommand^⚠
b3ChangeDynamicsInfoSetActivationState^⚠
b3ChangeDynamicsInfoSetAngularDamping^⚠
b3ChangeDynamicsInfoSetAnisotropicFriction^⚠
b3ChangeDynamicsInfoSetCcdSweptSphereRadius^⚠
b3ChangeDynamicsInfoSetCollisionMargin^⚠
b3ChangeDynamicsInfoSetContactProcessingThreshold^⚠
b3ChangeDynamicsInfoSetContactStiffnessAndDamping^⚠
b3ChangeDynamicsInfoSetDynamicType^⚠
b3ChangeDynamicsInfoSetFrictionAnchor^⚠
b3ChangeDynamicsInfoSetJointDamping^⚠
b3ChangeDynamicsInfoSetJointLimit^⚠
b3ChangeDynamicsInfoSetJointLimitForce^⚠
b3ChangeDynamicsInfoSetLateralFriction^⚠
b3ChangeDynamicsInfoSetLinearDamping^⚠
b3ChangeDynamicsInfoSetLocalInertiaDiagonal^⚠
b3ChangeDynamicsInfoSetMass^⚠
b3ChangeDynamicsInfoSetMaxJointVelocity^⚠
b3ChangeDynamicsInfoSetRestitution^⚠
b3ChangeDynamicsInfoSetRollingFriction^⚠
b3ChangeDynamicsInfoSetSpinningFriction^⚠
b3CollisionFilterCommandInit^⚠
b3ComputeDofCount^⚠
b3ComputePositionFromViewMatrix^⚠
b3ComputeProjectionMatrix^⚠
b3ComputeProjectionMatrixFOV^⚠
b3ComputeViewMatrixFromPositions^⚠
b3ComputeViewMatrixFromYawPitchRoll^⚠
b3ConfigureOpenGLVisualizerSetLightPosition^⚠
b3ConfigureOpenGLVisualizerSetLightRgbBackground^⚠
b3ConfigureOpenGLVisualizerSetRemoteSyncTransformInterval^⚠
b3ConfigureOpenGLVisualizerSetShadowMapIntensity^⚠
b3ConfigureOpenGLVisualizerSetShadowMapResolution^⚠
b3ConfigureOpenGLVisualizerSetShadowMapWorldSize^⚠
b3ConfigureOpenGLVisualizerSetViewMatrix^⚠
b3ConfigureOpenGLVisualizerSetVisualizationFlags^⚠
b3ConnectPhysicsDART^⚠
b3ConnectPhysicsDirect^⚠
b3ConnectPhysicsGRPC^⚠
b3ConnectPhysicsMuJoCo^⚠
b3ConnectPhysicsPhysX^⚠
b3ConnectPhysicsTCP^⚠
b3ConnectPhysicsUDP^⚠
b3ConnectSharedMemory^⚠
b3CreateChangeTextureCommandInit^⚠
b3CreateCollisionSetFlag^⚠
b3CreateCollisionShapeAddBox^⚠
b3CreateCollisionShapeAddCapsule^⚠
b3CreateCollisionShapeAddConcaveMesh^⚠
b3CreateCollisionShapeAddConvexMesh^⚠
b3CreateCollisionShapeAddCylinder^⚠
b3CreateCollisionShapeAddHeightfield^⚠
b3CreateCollisionShapeAddHeightfield2^⚠
b3CreateCollisionShapeAddMesh^⚠
b3CreateCollisionShapeAddPlane^⚠
b3CreateCollisionShapeAddSphere^⚠
b3CreateCollisionShapeCommandInit^⚠: the creation of collision shapes and rigid bodies etc is likely going to change, but good to have a b3CreateBoxShapeCommandInit for now
b3CreateCollisionShapeSetChildTransform^⚠
b3CreateCustomCommand^⚠
b3CreateInProcessGraphicsServerAndConnectMainThreadSharedMemory^⚠
b3CreateInProcessGraphicsServerAndConnectSharedMemory^⚠
b3CreateInProcessPhysicsServerAndConnect^⚠
b3CreateInProcessPhysicsServerAndConnectMainThread^⚠
b3CreateInProcessPhysicsServerAndConnectMainThreadSharedMemory^⚠
b3CreateInProcessPhysicsServerAndConnectSharedMemory^⚠
b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect3^⚠
b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect4^⚠
b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnectTCP^⚠
b3CreateMultiBodyBase^⚠
b3CreateMultiBodyCommandInit^⚠
b3CreateMultiBodyLink^⚠
b3CreateMultiBodySetBatchPositions^⚠
b3CreateMultiBodySetFlags^⚠
b3CreateMultiBodyUseMaximalCoordinates^⚠
b3CreatePoseCommandInit^⚠
b3CreatePoseCommandSetBaseAngularVelocity^⚠
b3CreatePoseCommandSetBaseLinearVelocity^⚠
b3CreatePoseCommandSetBaseOrientation^⚠
b3CreatePoseCommandSetBasePosition^⚠
b3CreatePoseCommandSetJointPosition^⚠
b3CreatePoseCommandSetJointPositionMultiDof^⚠
b3CreatePoseCommandSetJointVelocity^⚠
b3CreatePoseCommandSetJointVelocityMultiDof^⚠
b3CreateRaycastBatchCommandInit^⚠
b3CreateRaycastCommandInit^⚠
b3CreateSensorCommandInit^⚠: We are currently not reading the sensor information from the URDF file, and programmatically assign sensors. This is rather inconsistent, to mix programmatical creation with loading from file.
b3CreateSensorEnable6DofJointForceTorqueSensor^⚠
b3CreateVisualSetFlag^⚠
b3CreateVisualShapeAddBox^⚠
b3CreateVisualShapeAddCapsule^⚠
b3CreateVisualShapeAddCylinder^⚠
b3CreateVisualShapeAddMesh^⚠
b3CreateVisualShapeAddMesh2^⚠
b3CreateVisualShapeAddPlane^⚠
b3CreateVisualShapeAddSphere^⚠
b3CreateVisualShapeCommandInit^⚠
b3CreateVisualShapeSetChildTransform^⚠
b3CreateVisualShapeSetRGBAColor^⚠
b3CreateVisualShapeSetSpecularColor^⚠
b3CustomCommandExecuteAddFloatArgument^⚠
b3CustomCommandExecuteAddIntArgument^⚠
b3CustomCommandExecutePluginCommand^⚠
b3CustomCommandLoadPlugin^⚠
b3CustomCommandLoadPluginSetPostFix^⚠
b3CustomCommandUnloadPlugin^⚠
b3DisconnectSharedMemory^⚠
b3GetAABBOverlapResults^⚠
b3GetBodyInfo^⚠: given a body unique id, return the body information. See b3BodyInfo in SharedMemoryPublic.h
b3GetBodyUniqueId^⚠: return the body unique id, given the index in range [0 , b3GetNumBodies() )
b3GetCameraImageData^⚠
b3GetClosestPointInformation^⚠
b3GetCollisionShapeInformation^⚠
b3GetContactPointInformation^⚠
b3GetDebugItemUniqueId^⚠
b3GetDynamicsInfo^⚠: given a body unique id and link index, return the dynamics information. See b3DynamicsInfo in SharedMemoryPublic.h
b3GetDynamicsInfoCommandInit^⚠
b3GetJointInfo^⚠
b3GetJointState^⚠
b3GetJointStateMultiDof^⚠
b3GetKeyboardEventsData^⚠
b3GetLinkState^⚠
b3GetMouseEventsData^⚠
b3GetNumBodies^⚠: return the total number of bodies in the simulation
b3GetNumJoints^⚠
b3GetNumUserConstraints^⚠
b3GetNumUserData^⚠
b3GetRaycastInformation^⚠
b3GetStatusAABB^⚠
b3GetStatusActualState^⚠
b3GetStatusBodyIndex^⚠
b3GetStatusBodyIndices^⚠
b3GetStatusCollisionShapeUniqueId^⚠
b3GetStatusDebugParameterValue^⚠
b3GetStatusGetStateId^⚠
b3GetStatusInverseDynamicsJointForces^⚠
b3GetStatusInverseKinematicsJointPositions^⚠
b3GetStatusJacobian^⚠
b3GetStatusLoggingUniqueId^⚠
b3GetStatusMassMatrix^⚠: the mass matrix is stored in column-major layout of size dofCount*dofCount
b3GetStatusOpenGLVisualizerCamera^⚠
b3GetStatusPhysicsSimulationParameters^⚠
b3GetStatusPluginCommandResult^⚠
b3GetStatusPluginCommandReturnData^⚠
b3GetStatusPluginUniqueId^⚠
b3GetStatusTextureUniqueId^⚠
b3GetStatusType^⚠
b3GetStatusUserConstraintState^⚠
b3GetStatusUserConstraintUniqueId^⚠: return a unique id for the user constraint, after successful creation, or -1 for an invalid constraint id
b3GetStatusVisualShapeUniqueId^⚠
b3GetTimeOut^⚠
b3GetUserConstraintId^⚠: return the user constraint id, given the index in range [0 , b3GetNumUserConstraints() )
b3GetUserConstraintInfo^⚠
b3GetUserData^⚠
b3GetUserDataId^⚠
b3GetUserDataIdFromStatus^⚠
b3GetUserDataInfo^⚠
b3GetVREventsData^⚠
b3GetVisualShapeInformation^⚠
b3InitAABBOverlapQuery^⚠: get all the bodies that touch a given axis aligned bounding box specified in world space (min and max coordinates)
b3InitAddUserDataCommand^⚠
b3InitChangeDynamicsInfo^⚠
b3InitChangeUserConstraintCommand^⚠: change parameters of an existing user constraint
b3InitChangeUserConstraintSetERP^⚠
b3InitChangeUserConstraintSetFrameInB^⚠
b3InitChangeUserConstraintSetGearAuxLink^⚠
b3InitChangeUserConstraintSetGearRatio^⚠
b3InitChangeUserConstraintSetMaxForce^⚠
b3InitChangeUserConstraintSetPivotInB^⚠
b3InitChangeUserConstraintSetRelativePositionTarget^⚠
b3InitClosestDistanceQuery^⚠: compute the closest points between two bodies
b3InitConfigureOpenGLVisualizer^⚠
b3InitCreateSoftBodyAnchorConstraintCommand^⚠
b3InitCreateUserConstraintCommand^⚠
b3InitDebugDrawingCommand^⚠
b3InitGetUserConstraintStateCommand^⚠
b3InitLoadTexture^⚠
b3InitPerformCollisionDetectionCommand^⚠
b3InitPhysicsParamCommand^⚠
b3InitPhysicsParamCommand2^⚠
b3InitRemoveBodyCommand^⚠
b3InitRemoveCollisionShapeCommand^⚠
b3InitRemoveStateCommand^⚠
b3InitRemoveUserConstraintCommand^⚠
b3InitRemoveUserDataCommand^⚠
b3InitRequestCameraImage^⚠: request an image from a simulated camera, using a software renderer.
b3InitRequestCameraImage2^⚠
b3InitRequestCollisionShapeInformation^⚠
b3InitRequestContactPointInformation^⚠: request an contact point information
b3InitRequestOpenGLVisualizerCameraCommand^⚠
b3InitRequestPhysicsParamCommand^⚠
b3InitRequestVisualShapeInformation^⚠
b3InitResetSimulationCommand^⚠
b3InitResetSimulationCommand2^⚠
b3InitResetSimulationSetFlags^⚠
b3InitStepSimulationCommand^⚠
b3InitSyncBodyInfoCommand^⚠
b3InitSyncUserDataCommand^⚠
b3InitUpdateVisualShape^⚠
b3InitUpdateVisualShape2^⚠
b3InitUserDebugAddParameter^⚠
b3InitUserDebugDrawAddLine3D^⚠: Add/remove user-specific debug lines and debug text messages
b3InitUserDebugDrawAddPoints3D^⚠
b3InitUserDebugDrawAddText3D^⚠
b3InitUserDebugDrawRemove^⚠
b3InitUserDebugDrawRemoveAll^⚠
b3InitUserDebugReadParameter^⚠
b3InitUserRemoveAllParameters^⚠
b3JointControlCommandInit2^⚠
b3JointControlSetDamping^⚠
b3JointControlSetDampingMultiDof^⚠
b3JointControlSetDesiredForceTorque^⚠
b3JointControlSetDesiredForceTorqueMultiDof^⚠
b3JointControlSetDesiredPosition^⚠
b3JointControlSetDesiredPositionMultiDof^⚠
b3JointControlSetDesiredVelocity^⚠
b3JointControlSetDesiredVelocityMultiDof^⚠
b3JointControlSetKd^⚠
b3JointControlSetKdMultiDof^⚠
b3JointControlSetKp^⚠
b3JointControlSetKpMultiDof^⚠
b3JointControlSetMaximumForce^⚠
b3JointControlSetMaximumVelocity^⚠
b3LoadBulletCommandInit^⚠
b3LoadMJCFCommandInit^⚠
b3LoadMJCFCommandInit2^⚠
b3LoadMJCFCommandSetFlags^⚠
b3LoadMJCFCommandSetUseMultiBody^⚠
b3LoadSdfCommandInit^⚠
b3LoadSdfCommandSetUseGlobalScaling^⚠
b3LoadSdfCommandSetUseMultiBody^⚠
b3LoadSoftBodyAddCorotatedForce^⚠
b3LoadSoftBodyAddGravityForce^⚠
b3LoadSoftBodyAddMassSpringForce^⚠
b3LoadSoftBodyAddNeoHookeanForce^⚠
b3LoadSoftBodyCommandInit^⚠: experiments of robots interacting with non-rigid objects (such as btSoftBody)
b3LoadSoftBodySetCollisionHardness^⚠
b3LoadSoftBodySetCollisionMargin^⚠
b3LoadSoftBodySetFrictionCoefficient^⚠
b3LoadSoftBodySetMass^⚠
b3LoadSoftBodySetRepulsionStiffness^⚠
b3LoadSoftBodySetScale^⚠
b3LoadSoftBodySetSelfCollision^⚠
b3LoadSoftBodySetStartOrientation^⚠
b3LoadSoftBodySetStartPosition^⚠
b3LoadSoftBodyUpdateSimMesh^⚠
b3LoadSoftBodyUseAllDirectionDampingSprings^⚠
b3LoadSoftBodyUseBendingSprings^⚠
b3LoadSoftBodyUseFaceContact^⚠
b3LoadStateCommandInit^⚠
b3LoadStateSetFileName^⚠
b3LoadStateSetStateId^⚠
b3LoadUrdfCommandInit^⚠
b3LoadUrdfCommandSetFlags^⚠
b3LoadUrdfCommandSetGlobalScaling^⚠
b3LoadUrdfCommandSetStartOrientation^⚠
b3LoadUrdfCommandSetStartPosition^⚠
b3LoadUrdfCommandSetUseFixedBase^⚠
b3LoadUrdfCommandSetUseMultiBody^⚠
b3PhysicsParamSetArticulatedWarmStartingFactor^⚠
b3PhysicsParamSetCollisionFilterMode^⚠
b3PhysicsParamSetContactBreakingThreshold^⚠
b3PhysicsParamSetContactSlop^⚠
b3PhysicsParamSetDefaultContactERP^⚠
b3PhysicsParamSetDefaultFrictionCFM^⚠
b3PhysicsParamSetDefaultFrictionERP^⚠
b3PhysicsParamSetDefaultGlobalCFM^⚠
b3PhysicsParamSetDefaultNonContactERP^⚠
b3PhysicsParamSetEnableConeFriction^⚠
b3PhysicsParamSetEnableFileCaching^⚠
b3PhysicsParamSetGravity^⚠
b3PhysicsParamSetInternalSimFlags^⚠
b3PhysicsParamSetMaxNumCommandsPer1ms^⚠
b3PhysicsParamSetNumNonContactInnerIterations^⚠
b3PhysicsParamSetNumSolverIterations^⚠
b3PhysicsParamSetNumSubSteps^⚠
b3PhysicsParamSetRealTimeSimulation^⚠
b3PhysicsParamSetRestitutionVelocityThreshold^⚠
b3PhysicsParamSetSolverAnalytics^⚠
b3PhysicsParamSetSolverResidualThreshold^⚠
b3PhysicsParamSetSplitImpulsePenetrationThreshold^⚠
b3PhysicsParamSetTimeStep^⚠
b3PhysicsParamSetUseSplitImpulse^⚠
b3PhysicsParamSetWarmStartingFactor^⚠
b3PhysicsParameterSetAllowedCcdPenetration^⚠
b3PhysicsParameterSetConstraintSolverType^⚠
b3PhysicsParameterSetDeterministicOverlappingPairs^⚠
b3PhysicsParameterSetEnableSAT^⚠
b3PhysicsParameterSetJointFeedbackMode^⚠
b3PhysicsParameterSetMinimumSolverIslandSize^⚠
b3PhysicsParameterSetSparseSdfVoxelSize^⚠
b3PopProfileTiming^⚠
b3ProfileTimingCommandInit^⚠
b3PushProfileTiming^⚠
b3RaycastBatchAddRay^⚠
b3RaycastBatchAddRays^⚠
b3RaycastBatchSetCollisionFilterMask^⚠
b3RaycastBatchSetFractionEpsilon^⚠
b3RaycastBatchSetNumThreads^⚠
b3RaycastBatchSetParentObject^⚠
b3RaycastBatchSetReportHitNumber^⚠
b3RemoveDebugObjectColor^⚠
b3RequestActualStateCommandComputeForwardKinematics^⚠
b3RequestActualStateCommandComputeLinkVelocity^⚠
b3RequestActualStateCommandInit^⚠
b3RequestCameraImageSelectRenderer^⚠
b3RequestCameraImageSetCameraMatrices^⚠
b3RequestCameraImageSetFlags^⚠
b3RequestCameraImageSetLightAmbientCoeff^⚠
b3RequestCameraImageSetLightColor^⚠
b3RequestCameraImageSetLightDiffuseCoeff^⚠
b3RequestCameraImageSetLightDirection^⚠
b3RequestCameraImageSetLightDistance^⚠
b3RequestCameraImageSetLightSpecularCoeff^⚠
b3RequestCameraImageSetPixelResolution^⚠
b3RequestCameraImageSetProjectiveTextureMatrices^⚠: set projective texture camera matrices.
b3RequestCameraImageSetShadow^⚠
b3RequestCollisionInfoCommandInit^⚠
b3RequestKeyboardEventsCommandInit^⚠
b3RequestKeyboardEventsCommandInit2^⚠
b3RequestMouseEventsCommandInit^⚠
b3RequestVREventsCommandInit^⚠
b3SaveBulletCommandInit^⚠
b3SaveStateCommandInit^⚠
b3SaveWorldCommandInit^⚠
b3SetAdditionalSearchPath^⚠
b3SetClosestDistanceFilterBodyA^⚠
b3SetClosestDistanceFilterBodyB^⚠
b3SetClosestDistanceFilterCollisionShapeA^⚠
b3SetClosestDistanceFilterCollisionShapeB^⚠
b3SetClosestDistanceFilterCollisionShapeOrientationA^⚠
b3SetClosestDistanceFilterCollisionShapeOrientationB^⚠
b3SetClosestDistanceFilterCollisionShapePositionA^⚠
b3SetClosestDistanceFilterCollisionShapePositionB^⚠
b3SetClosestDistanceFilterLinkA^⚠
b3SetClosestDistanceFilterLinkB^⚠
b3SetClosestDistanceThreshold^⚠
b3SetCollisionFilterGroupMask^⚠
b3SetCollisionFilterPair^⚠
b3SetContactFilterBodyA^⚠
b3SetContactFilterBodyB^⚠
b3SetContactFilterLinkA^⚠
b3SetContactFilterLinkB^⚠
b3SetDebugObjectColor^⚠
b3SetProfileTimingDuractionInMicroSeconds^⚠
b3SetProfileTimingType^⚠
b3SetTimeOut^⚠
b3SetVRCameraRootOrientation^⚠
b3SetVRCameraRootPosition^⚠
b3SetVRCameraStateCommandInit^⚠
b3SetVRCameraTrackingObject^⚠
b3SetVRCameraTrackingObjectFlag^⚠
b3StateLoggingAddLoggingObjectUniqueId^⚠
b3StateLoggingCommandInit^⚠
b3StateLoggingSetBodyAUniqueId^⚠
b3StateLoggingSetBodyBUniqueId^⚠
b3StateLoggingSetDeviceTypeFilter^⚠
b3StateLoggingSetLinkIndexA^⚠
b3StateLoggingSetLinkIndexB^⚠
b3StateLoggingSetLogFlags^⚠
b3StateLoggingSetMaxLogDof^⚠
b3StateLoggingStart^⚠
b3StateLoggingStop^⚠
b3SubmitClientCommandAndWaitStatus^⚠
b3UpdateVisualShapeFlags^⚠
b3UpdateVisualShapeRGBAColor^⚠
b3UpdateVisualShapeSpecularColor^⚠
b3UpdateVisualShapeTexture^⚠
b3UserDebugItemSetParentObject^⚠
b3UserDebugItemSetReplaceItemUniqueId^⚠
b3UserDebugTextSetOptionFlags^⚠
b3UserDebugTextSetOrientation^⚠
b3VREventsSetDeviceTypeFilter^⚠

Type Aliases§

b3PhysicsClientHandle
b3SharedMemoryCommandHandle
b3SharedMemoryStatusHandle