Crate rubullet

Expand description

A Rust interface for Bullet physics inspired by PyBullet.

§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", 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(())
}

Re-exports§

pub use image;
pub use nalgebra;

Modules§

logging_utils: Contains methods and types which are useful for logging

Structs§

Aabb: axis-aligned minimum bounding box
ActivationState
AddDebugLineOptions: Represents options for add_user_debug_line
AddDebugTextOptions: Represents options for add_user_debug_text
BodyId: The unique ID for a body within a physics server.
BodyInfo: Contains the body name and base name of a Body. BodyInfo is returned by get_body_info
CameraImageOptions: Options for get_camera_image
ChangeConstraintOptions: contains the parameters for change_constraint method.
ChangeDynamicsOptions: Dynamics options for the change_dynamics method. Some options do not depend on the given link and apply to the whole body. These options are:
ChangeVisualShapeOptions: This struct keeps the information to change a visual shape with the change_visual_shape method.
CollisionId: The unique ID for a Collision Shape.
ConstraintId: The unique ID for a constraint.
ConstraintInfo: contains the parameters for change_constraint method.
ContactPoint: Is the result of the get_closest_points and get_contact_points methods.
DebugVisualizerCameraInfo: Contains the state of the Gui camera. Is returned by get_debug_visualizer_camera.
DynamicsInfo: Contains information about the mass, center of mass, friction and other properties of the base and links. Is returned by get_dynamics_info.
Error
Images: Stores the images from get_camera_image()
InverseKinematicsNullSpaceParameters: Parameters for Inverse Kinematics using the Nullspace
InverseKinematicsParameters: Parameters for the calculate_inverse_kinematics() You can easily create them using the InverseKinematicsParametersBuilder
InverseKinematicsParametersBuilder: creates InverseKinematicsParameters using the Builder Pattern which can then be used in calculate_inverse_kinematics(). Use the build() method to get the parameters.
ItemId: The unique ID for a User Debug Parameter Item
Jacobian: Specifies a jacobian with 6 rows. The jacobian is split into a linear part and an angular part.
JointInfo: Contains basic information about a joint like its type and name. It can be obtained via get_joint_info()
JointState: Represents the current state of a joint. It can be retrieved via get_joint_state()
KeyboardEvent: Represents a key press Event
LinkState: Describes the State of a Link
LoadModelFlags: Use flag for loading the model. Flags can be combined with the |-operator. Example:
LogFlags
LogId: The unique ID for a Logging Object.
MouseButtonState: Represents the different possible states of a mouse button
MultiBodyOptions: Specifies all options for create_multi_body. Most of the the time you are probably fine using MultiBodyOptions::default() or just setting the base_pose and/or mass
OverlappingObject: Is the result of get_overlapping_objects. Each object specifies a link of a body.
PhysicsClient: Connection to a physics server.
PhysicsEngineParameters: See SetPhysicsEngineParameterOptions for a description of the parameters.
PhysicsServer: A PhysicsServer is actually a PhysicsClient which is run as a TCP Server and with all methods apart from is_connected disabled, as they would fail otherwise. This is for advanced users and you are usually you should be better of with a normal PhysicsClient.
RayHitInfo
RayTestBatchOptions: Options for ray_test_batch
RayTestOptions: Options for ray_test
RendererAuxFlags: flags for camera rendering
ResetFlags: Experimental flags, best to ignore.
SdfOptions: Options for loading models from an SDF file into the physics server.
SetPhysicsEngineParameterOptions: Options for the set_physics_engine_parameter method.
SoftBodyOptions: options for load_soft_body
StateId: The unique ID for a State Object.
StateLoggingOptions
TextureId: The unique ID for a Texture
UrdfOptions: Options for loading a URDF into the physics server.
Velocity: Contains the cartesian velocity stored as Vector with 6 elements (x,y,z,wx,wy,wz).
VisualId: The unique ID for a Visual Shape
VisualShapeData: Contains information about the visual shape of a body. It is returned by get_visual_shape_data
VisualShapeFlags: Experimental flags, best to ignore.
VisualShapeOptions: VisualShape options are for the create_visual_shape function to specify additional options like the color.

Enums§

BodyType
ConstraintSolverType
ControlCommand: The ControlCommand specifies how the robot should move (Position Control, Velocity Control, Torque Control) Each type of ControlCommand has its own set of Parameters. The Position mode for example takes a desired joint position as input. It can be used in set_joint_motor_control()
ControlCommandArray: Can be used in set_joint_motor_control_array(). It is basically the same as ControlCommand but with arrays. See ControlCommand for details.
DebugVisualizerFlag: Flags for configure_debug_visualizer()
ExternalForceFrame: Frame for apply_external_torque() and apply_external_force()
GeometricCollisionShape: Collision shape which can be put the create_collision_shape method
GeometricVisualShape: Visual shapes to put into the create_visual_shape method together with VisualShapeOptions
IkSolver: Specifies which Inverse Kinematics Solver to use in calculate_inverse_kinematics()
JointFeedbackMode: Specifies joint feedback frame. Is used in SetPhysicsEngineParameterOptions::joint_feedback_mode
JointType: An enum to represent different types of joints
LoggingType
Mode: Ways to connect to physics clients.
MouseEvent: Mouse Events can either be a “Move” or a “Button” event. A “Move” event is when the mouse is moved in the OpenGL window and a “Button” even is when a mouse button is clicked.
Renderer
ServerMode: Choose which type of server you want.

Crate rubullet

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§Example

Re-exports§

Modules§

Structs§

Enums§

Crate rubullet