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* Adjustment: Update Bullet version to 3.24.

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This commit is contained in:
Robert MacGregor 2022-06-27 10:01:08 -04:00
parent 35de012ee7
commit 4a3f31df2a
6148 changed files with 2112532 additions and 56873 deletions
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3696
Engine/lib/bullet/examples/pybullet/unity3d/autogen/NativeMethods.cs Normal file
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Engine/lib/bullet/examples/pybullet/unity3d/examples/NewBehaviourScript.cs Normal file
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using System.Collections;
using System.Collections.Generic;
using UnityEngine;
using UnityEngine.UI;
using System.Runtime.InteropServices;
using System;
[System.Runtime.InteropServices.StructLayoutAttribute(System.Runtime.InteropServices.LayoutKind.Sequential)]
public class NewBehaviourScript : MonoBehaviour {
Text text;
IntPtr sharedAPI;
IntPtr pybullet;
int m_cubeUid;
// Use this for initialization
void Start () {
text = GetComponent<Text>();
pybullet = NativeMethods.b3ConnectSharedMemory(NativeConstants.SHARED_MEMORY_KEY);
if (NativeMethods.b3CanSubmitCommand(pybullet)==0)
{
pybullet = NativeMethods.b3ConnectPhysicsDirect();
}
IntPtr cmd = NativeMethods.b3InitResetSimulationCommand(pybullet);
IntPtr status = NativeMethods.b3SubmitClientCommandAndWaitStatus(pybullet, cmd);
{
IntPtr command = NativeMethods.b3InitPhysicsParamCommand(pybullet);
NativeMethods.b3PhysicsParamSetGravity(command, 0, -10, 0);
IntPtr statusHandle = NativeMethods.b3SubmitClientCommandAndWaitStatus(pybullet, command);
}
int numBodies = NativeMethods.b3GetNumBodies(pybullet);
{
cmd = NativeMethods.b3LoadUrdfCommandInit(pybullet, "plane.urdf");
Quaternion qq = Quaternion.Euler(-90, 0, 0);
NativeMethods.b3LoadUrdfCommandSetStartOrientation(cmd, qq.x, qq.y, qq.z, qq.w);
status = NativeMethods.b3SubmitClientCommandAndWaitStatus(pybullet, cmd);
}
cmd = NativeMethods.b3LoadUrdfCommandInit(pybullet, "cube.urdf");
NativeMethods.b3LoadUrdfCommandSetStartPosition(cmd, 0, 20, 0);
Quaternion q = Quaternion.Euler(35, 0, 0);
NativeMethods.b3LoadUrdfCommandSetStartOrientation(cmd, q.x, q.y, q.z, q.w);
status = NativeMethods.b3SubmitClientCommandAndWaitStatus(pybullet, cmd);
m_cubeUid = NativeMethods.b3GetStatusBodyIndex(status);
EnumSharedMemoryServerStatus statusType = (EnumSharedMemoryServerStatus)NativeMethods.b3GetStatusType(status);
if (statusType == (EnumSharedMemoryServerStatus)EnumSharedMemoryServerStatus.CMD_URDF_LOADING_COMPLETED)
{
numBodies = NativeMethods.b3GetNumBodies(pybullet);
text.text = numBodies.ToString();
cmd = NativeMethods.b3InitRequestVisualShapeInformation(pybullet, m_cubeUid);
status = NativeMethods.b3SubmitClientCommandAndWaitStatus(pybullet, cmd);
statusType = (EnumSharedMemoryServerStatus) NativeMethods.b3GetStatusType(status);
if (statusType == (EnumSharedMemoryServerStatus)EnumSharedMemoryServerStatus.CMD_VISUAL_SHAPE_INFO_COMPLETED)
{
b3VisualShapeInformation visuals = new b3VisualShapeInformation();
NativeMethods.b3GetVisualShapeInformation(pybullet, ref visuals);
System.Console.WriteLine("visuals.m_numVisualShapes=" + visuals.m_numVisualShapes);
System.IntPtr visualPtr = visuals.m_visualShapeData;
for (int s = 0; s < visuals.m_numVisualShapes; s++)
{
b3VisualShapeData visual = (b3VisualShapeData)Marshal.PtrToStructure(visualPtr, typeof(b3VisualShapeData));
visualPtr = new IntPtr(visualPtr.ToInt64()+(Marshal.SizeOf(typeof(b3VisualShapeData))));
double x = visual.m_dimensions[0];
double y = visual.m_dimensions[1];
double z = visual.m_dimensions[2];
System.Console.WriteLine("visual.m_visualGeometryType = " + visual.m_visualGeometryType);
System.Console.WriteLine("visual.m_dimensions" + x + "," + y + "," + z);
if (visual.m_visualGeometryType == (int)eUrdfGeomTypes.GEOM_MESH)
{
System.Console.WriteLine("visual.m_meshAssetFileName=" + visual.m_meshAssetFileName);
text.text = visual.m_meshAssetFileName;
}
}
}
if (numBodies > 0)
{
b3BodyInfo info=new b3BodyInfo();
NativeMethods.b3GetBodyInfo(pybullet, 0, ref info );
text.text = info.m_baseName;
}
}
}
public struct MyPos
{
public double x, y, z;
public double qx, qy, qz, qw;
}
// Update is called once per frame
void Update () {
if (pybullet != IntPtr.Zero)
{
IntPtr cmd = NativeMethods.b3InitStepSimulationCommand(pybullet);
IntPtr status = NativeMethods.b3SubmitClientCommandAndWaitStatus(pybullet, cmd);
}
if (m_cubeUid>=0)
{
IntPtr cmd_handle =
NativeMethods.b3RequestActualStateCommandInit(pybullet, m_cubeUid);
IntPtr status_handle = NativeMethods.b3SubmitClientCommandAndWaitStatus(pybullet, cmd_handle);
EnumSharedMemoryServerStatus status_type = (EnumSharedMemoryServerStatus)NativeMethods.b3GetStatusType(status_handle);
if (status_type == EnumSharedMemoryServerStatus.CMD_ACTUAL_STATE_UPDATE_COMPLETED)
{
IntPtr p = IntPtr.Zero;
int objUid = 0;
int numDofQ = 0;
int numDofU = 0;
IntPtr inertialFrame = IntPtr.Zero;
IntPtr actualStateQ = IntPtr.Zero;
IntPtr actualStateQdot = IntPtr.Zero;
IntPtr joint_reaction_forces = IntPtr.Zero;
NativeMethods.b3GetStatusActualState(
status_handle, ref objUid, ref numDofQ , ref numDofU,
ref inertialFrame, ref actualStateQ,
ref actualStateQdot , ref joint_reaction_forces);
//Debug.Log("objUid=" + objUid.ToString());
//Debug.Log("numDofQ=" + numDofQ.ToString());
//Debug.Log("numDofU=" + numDofU.ToString());
MyPos mpos = (MyPos)Marshal.PtrToStructure(actualStateQ, typeof(MyPos));
//Debug.Log("pos=(" + mpos.x.ToString()+","+ mpos.y.ToString()+ "," + mpos.z.ToString()+")");
//Debug.Log("orn=(" + mpos.qx.ToString() + "," + mpos.qy.ToString() + "," + mpos.qz.ToString() + mpos.qw.ToString() + ")");
Vector3 pos = new Vector3((float)mpos.x, (float)mpos.y, (float)mpos.z);
Quaternion orn = new Quaternion((float)mpos.qx, (float)mpos.qy, (float)mpos.qz, (float)mpos.qw);
Vector3 dimensions = new Vector3(1, 1, 1);
CjLib.DebugUtil.DrawBox(pos, orn, dimensions, Color.black);
}
}
{
CjLib.DebugUtil.DrawLine(new Vector3(-1, 0, 0), new Vector3(1, 0, 0), Color.red);
CjLib.DebugUtil.DrawLine(new Vector3(0, -1, 0), new Vector3(0, 1, 0), Color.green);
CjLib.DebugUtil.DrawLine(new Vector3(0, 0, -1), new Vector3(0, 0, 1), Color.blue);
}
}
void OnDestroy()
{
if (pybullet != IntPtr.Zero)
{
NativeMethods.b3DisconnectSharedMemory(pybullet);
}
}
}

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Engine/lib/bullet/examples/pybullet/unity3d/readme.txt Normal file
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Quick prototype to connect Unity 3D to pybullet
Generate C# Native Methods using the Microsoft PInvoke Signature Toolkit:
sigimp.exe /lang:cs e:\develop\bullet3\examples\SharedMemory\PhysicsClientC_API.h
Add some #define B3_SHARED_API __declspec(dllexport) to the exported methods,
replace [3], [4], [16] by [] to get sigimp.exe working.
This generates autogen/NativeMethods.cs
Then put pybullet.dll in the right location, so Unity finds it.
NewBehaviourScript.cs is a 1 evening prototype that works within Unity 3D:
Create a connection to pybullet, reset the world, load a urdf at startup.
Step the simulation each Update.
Now the real work can start, converting Unity objects to pybullet,
pybullet robots to Unity, synchronizing the transforms each Update.
void Start () {
IntPtr pybullet = b3ConnectSharedMemory(12347);
IntPtr cmd = b3InitResetSimulationCommand(pybullet);
IntPtr status = b3SubmitClientCommandAndWaitStatus(pybullet, cmd);
cmd = b3LoadUrdfCommandInit(pybullet, "plane.urdf");
status = b3SubmitClientCommandAndWaitStatus(pybullet, cmd);
}
void Update ()
{
IntPtr cmd = b3InitStepSimulationCommand(pybullet);
IntPtr status = b3SubmitClientCommandAndWaitStatus(pybullet, cmd);
}