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digitalmars.D - Bullet Physics in D

reply Jonathan Levi <catanscout gmail.com> writes:
I want to use the Bullet physics engine for a project of mine 
which is in D.  I have found many a bunch of different posts in 
the Forum (the most recent was in 2016).  The primary problem 
seemed to be dealing with the fact the Bullet is made in C++.  
(It has been 4 years, has D & C++ binding gotten easier now?)

Bullet now has a first-party C API (which they use for PyBullet 
(Python bindings for Bullet)).  It should then theoretically be 
easy to make bindings!

I would really like to see bindings for Bullet created.  And I 
will be putting effort to do it, but I know there are others in 
the D community who would far better at managing it than myself.

 BLM768  Dechcaudron  vuaru
Jan 30 2020
next sibling parent reply Ferhat =?UTF-8?B?S3VydHVsbXXFnw==?= <aferust gmail.com> writes:
On Thursday, 30 January 2020 at 18:52:36 UTC, Jonathan Levi wrote:

 I want to use the Bullet physics engine for a project of mine 
 which is in D.  I have found many a bunch of different posts in 
 the Forum (the most recent was in 2016).  The primary problem 
 seemed to be dealing with the fact the Bullet is made in C++.  
 (It has been 4 years, has D & C++ binding gotten easier now?)

 Bullet now has a first-party C API (which they use for PyBullet 
 (Python bindings for Bullet)).  It should then theoretically be 
 easy to make bindings!

 I would really like to see bindings for Bullet created.  And I 
 will be putting effort to do it, but I know there are others in 
 the D community who would far better at managing it than myself.

  BLM768  Dechcaudron  vuaru


You don't need a binding to start using it. You can easily call C 
functions from D as long as you provide a proper linkage.
Jan 30 2020
parent Ferhat =?UTF-8?B?S3VydHVsbXXFnw==?= <aferust gmail.com> writes:
On Thursday, 30 January 2020 at 19:40:24 UTC, Ferhat Kurtulmuş 
wrote:

 On Thursday, 30 January 2020 at 18:52:36 UTC, Jonathan Levi 
 wrote:

 [...]


 You don't need a binding to start using it. You can easily call 
 C functions from D as long as you provide a proper linkage.


Writing a binding is a good learning practice also. I was trying 
to call some opencv functions, and I ended up with an opencv 
binding.
Jan 30 2020
prev sibling parent reply bachmeier <no spam.net> writes:
On Thursday, 30 January 2020 at 18:52:36 UTC, Jonathan Levi wrote:

 I want to use the Bullet physics engine for a project of mine 
 which is in D.  I have found many a bunch of different posts in 
 the Forum (the most recent was in 2016).  The primary problem 
 seemed to be dealing with the fact the Bullet is made in C++.  
 (It has been 4 years, has D & C++ binding gotten easier now?)

 Bullet now has a first-party C API (which they use for PyBullet 
 (Python bindings for Bullet)).  It should then theoretically be 
 easy to make bindings!

 I would really like to see bindings for Bullet created.  And I 
 will be putting effort to do it, but I know there are others in 
 the D community who would far better at managing it than myself.

  BLM768  Dechcaudron  vuaru


Do you have a link to the C API documentation/examples? Using 
dpp, it should be nothing more than adding an #include statement 
at the top of your D file and calling the functions. Or use dstep 
to generate the bindings.
Jan 30 2020
parent reply Gregor =?UTF-8?B?TcO8Y2ts?= <gregormueckl gmx.de> writes:
On Thursday, 30 January 2020 at 20:53:39 UTC, bachmeier wrote:

 Do you have a link to the C API documentation/examples? Using 
 dpp, it should be nothing more than adding an #include 
 statement at the top of your D file and calling the functions. 
 Or use dstep to generate the bindings.


This piqued my interest, too, but I don't see any documentation. 
The only C wrapper that I found is part of the shared memory 
client/server example. Pybullet piggybacks on that (an example 
program including code from a separate example). At first glance, 
all of this looks pretty weird and I can't make out how stable, 
complete or efficient it actually is.
Jan 30 2020
parent reply Andrea Fontana <nospam example.com> writes:
On Friday, 31 January 2020 at 00:37:27 UTC, Gregor Mückl wrote:

 On Thursday, 30 January 2020 at 20:53:39 UTC, bachmeier wrote:

 Do you have a link to the C API documentation/examples? Using 
 dpp, it should be nothing more than adding an #include 
 statement at the top of your D file and calling the functions. 
 Or use dstep to generate the bindings.


 This piqued my interest, too, but I don't see any 
 documentation. The only C wrapper that I found is part of the 
 shared memory client/server example. Pybullet piggybacks on 
 that (an example program including code from a separate 
 example). At first glance, all of this looks pretty weird and I 
 can't make out how stable, complete or efficient it actually is.


https://github.com/bulletphysics/bullet3/blob/master/examples/pybullet/pybullet.c

This sounds like a c binding
Jan 31 2020
parent reply Gregor =?UTF-8?B?TcO8Y2ts?= <gregormueckl gmx.de> writes:
On Friday, 31 January 2020 at 09:00:45 UTC, Andrea Fontana wrote:

 On Friday, 31 January 2020 at 00:37:27 UTC, Gregor Mückl wrote:

 This piqued my interest, too, but I don't see any 
 documentation. The only C wrapper that I found is part of the 
 shared memory client/server example. Pybullet piggybacks on 
 that (an example program including code from a separate 
 example). At first glance, all of this looks pretty weird and 
 I can't make out how stable, complete or efficient it actually 
 is.


 https://github.com/bulletphysics/bullet3/blob/master/examples/pybullet/pybullet.c

 This sounds like a c binding


This is what I was referring to. The actual C wrapper layer is in 
the SharedMemory example code:

https://github.com/bulletphysics/bullet3/blob/master/examples/SharedMemory/PhysicsClientC_API.h

The file you linked is the python binding around that.

Bullet currently consists of two nearly entirely independent 
implementations in src/. This C wrapper seems to wrap only the 
newer bullet3 implementation, which looks noticeably less 
complete to me.
Jan 31 2020
parent reply bachmeier <no spam.net> writes:
On Friday, 31 January 2020 at 10:02:24 UTC, Gregor Mückl wrote:

 On Friday, 31 January 2020 at 09:00:45 UTC, Andrea Fontana 
 wrote:

 On Friday, 31 January 2020 at 00:37:27 UTC, Gregor Mückl wrote:

 This piqued my interest, too, but I don't see any 
 documentation. The only C wrapper that I found is part of the 
 shared memory client/server example. Pybullet piggybacks on 
 that (an example program including code from a separate 
 example). At first glance, all of this looks pretty weird and 
 I can't make out how stable, complete or efficient it 
 actually is.


 https://github.com/bulletphysics/bullet3/blob/master/examples/pybullet/pybullet.c

 This sounds like a c binding


 This is what I was referring to. The actual C wrapper layer is 
 in the SharedMemory example code:

 https://github.com/bulletphysics/bullet3/blob/master/examples/SharedMemory/PhysicsClientC_API.h

 The file you linked is the python binding around that.

 Bullet currently consists of two nearly entirely independent 
 implementations in src/. This C wrapper seems to wrap only the 
 newer bullet3 implementation, which looks noticeably less 
 complete to me.


It must have started out as a Java implementation. Just look at 
the verbosity of the names:

B3_SHARED_API void 
b3CalculateInverseKinematicsAddTargetPositionWithOrientation(b3Share
MemoryCommandHandle commandHandle, int endEffectorLinkIndex, const double
targetPosition[/*3*/], const double targetOrientation[/*4*/]);
Jan 31 2020
parent JN <666total wp.pl> writes:
On Friday, 31 January 2020 at 14:01:22 UTC, bachmeier wrote:

 It must have started out as a Java implementation. Just look at 
 the verbosity of the names:

 B3_SHARED_API void 
 b3CalculateInverseKinematicsAddTargetPositionWithOrientation(b3Share
MemoryCommandHandle commandHandle, int endEffectorLinkIndex, const double
targetPosition[/*3*/], const double targetOrientation[/*4*/]);


This doesn't strike me as very verbose. I actually like verbose 
names because they explain what the method does well. And in a 
proper ide you can type CIKAT, press ctrl+space and the entire 
name will get autocompleted.
Feb 03 2020