Crate rubullet

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.