Merge pull request #2 from neachdainn/marco_dev

alpha release

.github/workflows/rust.yml

@@ -12,7 +12,7 @@ env:
 jobs:
   build:
 
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-20.04
 
     steps:
     - uses: actions/checkout@v2
@@ -21,5 +21,7 @@ jobs:
         git submodule update --init
         cargo build --verbose
     - name: Check Format
-      run: cargo fmt -- --check 
+      run: cargo fmt -- --check
+    - name: Run Tests
+      run: cargo test -p rubullet -- --test-threads=1
 

.gitmodules

@@ -1,3 +1,3 @@
-[submodule "bullet3/libbullet3"]
-	path = bullet3/libbullet3
+[submodule "rubullet-sys/bullet3/libbullet3"]
+	path = rubullet-sys/bullet3/libbullet3
 	url = https://github.com/bulletphysics/bullet3.git

Cargo.toml

@@ -1,16 +1,5 @@
-[package]
-name = "rubullet"
-version = "0.1.0"
-authors = ["Nathan Kent <[email protected]>"]
-edition = "2018"
-
-# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
-
-[dependencies]
-nalgebra = "0.21.0"
-
-[build-dependencies]
-cmake = "0.1.42"
-
-[dev-dependencies]
-easy-error = "0.3.1"
+[workspace] 
+members = [
+    "rubullet",
+    "rubullet-sys",
+    ]

LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2021 Nathan Kent, Marco Boneberger
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

README.md

@@ -0,0 +1,79 @@
+![GitHub Workflow Status](https://img.shields.io/github/workflow/status/neachdainn/rubullet/Rust)
+# RuBullet
+
+RuBullet is a Rust implementation of [PyBullet](https://pybullet.org/).
+In other words, it uses the [Bullet3](https://github.com/bulletphysics/bullet3) 
+C API in order to expose a functionality that is similar to PyBullet.
+Development is ongoing and functionality is currently limited.
+
+## Status
+Right now RuBullet should cover most of the basic use cases. It can:
+* Create a PhysicsClient in either Direct or Gui mode
+* Load models from URDF, SDF or MuJoCo files
+* Create own models within the simulation
+* Control robots in position, velocity or torque mode
+* Calculate inverse dynamics, inverse kinematics, jacobians and mass matrices
+* Render camera images
+* Read information about links and joints
+* Change linear and angular damping of joints
+* Create GUI sliders, button or put debugging text or lines in the simulation
+* Get keyboard and mouse events 
+
+Things which are not implemented yet:
+* Collision Detection Queries 
+* Virtual Reality
+* Connect via SHARED_MEMORY, UDP or TCP
+* Plugins
+* Deformables and Cloth
+* Logging and saving states
+* Creating constraints
+* Set physics engine parameters
+* Change other dynamics parameters apart from linear and angular damping
+
+The API is unstable and subject to change.
+
+# Example
+```rust
+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", Default::default())?;
+
+    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(())
+}
+```
+
+## Bug reports and Merge Requests
+The current development happens as a part of marcbone's master thesis. Therefore, merge requests can not be accepted until
+July 5, 2021. We are disabling merge requests until then which sadly also disables issues. If you find any bugs or have suggestions please write an email to
+one of the maintainers.
+
+## License
+RuBullet is licensed under MIT
+

rubullet-sys/Cargo.toml

@@ -0,0 +1,20 @@
+[package]
+name = "rubullet-sys"
+version = "0.1.0-alpha"
+authors = ["Nathan Kent <[email protected]>", "Marco Boneberger <[email protected]>"]
+edition = "2018"
+license = "MIT"
+repository = "https://github.com/neachdainn/rubullet"
+description = "Compiles bullet3 and exposes rust bindings to the C API"
+categories =["science::robotics","simulation"]
+keywords =["pybullet","bullet","bullet3","physics","robotics"]
+# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+
+[lib]
+name = "rubullet_sys"
+src = "src/lib.rs"
+
+
+[build-dependencies]
+cmake = "0.1.42"
+

build.rs → rubullet-sys/build.rs

@@ -2,9 +2,11 @@ fn main() {
     // PyBullet does not enable `BT_THREADSAFE`. I assume this is because of the GIL - PyBullet does
     // nothing without the GIL locked. We'll make the same guarantee by using Rust's ownership
     // model.
-    let dst = cmake::Config::new("bullet3")
-        //.very_verbose(true)
-        .build();
+    let mut config = &mut cmake::Config::new("bullet3");
+    if config.get_profile() != "Release" {
+        config = config.profile("RelWithDebInfo");
+    }
+    let dst = config.build();
 
     println!("cargo:rustc-link-search=native={}/lib", dst.display());
     println!("cargo:rustc-link-lib=static=BulletExampleBrowserLib");