Quick first prototype/test to integrate pybullet into Unity,

see readme.txt for details.

examples/pybullet/unity3d/examples/NewBehaviourScript.cs

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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 {
+
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint = "b3ConnectSharedMemory")]
+    public static extern System.IntPtr b3ConnectSharedMemory(int key);
+
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint = "b3CreateInProcessPhysicsServerAndConnect")]
+    public static extern System.IntPtr b3CreateInProcessPhysicsServerAndConnect(int argc, ref System.IntPtr argv);
+
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint = "b3InitStepSimulationCommand")]
+    public static extern System.IntPtr b3InitStepSimulationCommand(IntPtr  physClient);
+
+    
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint = "b3LoadUrdfCommandInit")]
+    public static extern System.IntPtr b3LoadUrdfCommandInit(IntPtr physClient, [System.Runtime.InteropServices.InAttribute()] [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.LPStr)] string urdfFileName);
+
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint = "b3InitResetSimulationCommand")]
+    public static extern System.IntPtr b3InitResetSimulationCommand(IntPtr physClient);
+
+    [System.Runtime.InteropServices.DllImportAttribute("pybullet_vs2010_x64_release.dll", EntryPoint = "b3SubmitClientCommandAndWaitStatus")]
+    public static extern System.IntPtr b3SubmitClientCommandAndWaitStatus(IntPtr physClient, IntPtr commandHandle);
+
+
+    [DllImport("TestCppPlug.dll")]
+    static extern int Add(int a, int b);
+
+    [DllImport("TestCppPlug.dll")]
+    static extern int CallMe(Action<int> action);
+
+    [DllImport("TestCppPlug.dll")]
+    static extern IntPtr CreateSharedAPI(int id);
+    
+    [DllImport("TestCppPlug.dll")]
+    static extern int GetMyIdPlusTen(IntPtr api);
+
+    [DllImport("TestCppPlug.dll")]
+    static extern void DeleteSharedAPI(IntPtr api);
+
+    private void IWasCalled(int value)
+    {
+        text.text = value.ToString();
+    }
+
+    Text text;
+    IntPtr sharedAPI;
+    IntPtr pybullet;
+
+	// Use this for initialization
+	void Start () {
+        text = GetComponent<Text>();
+        CallMe(IWasCalled);
+        sharedAPI = CreateSharedAPI(30);
+
+        IntPtr pybullet = b3ConnectSharedMemory(12347);
+        IntPtr cmd = b3InitResetSimulationCommand(pybullet);
+        IntPtr status = b3SubmitClientCommandAndWaitStatus(pybullet, cmd);
+        cmd = b3LoadUrdfCommandInit(pybullet, "plane.urdf");
+        status = b3SubmitClientCommandAndWaitStatus(pybullet, cmd);
+        //IntPtr clientPtr = b3CreateInProcessPhysicsServerAndConnect(0, ref ptr);
+    }
+	
+	// Update is called once per frame
+	void Update () {
+        IntPtr cmd = b3InitStepSimulationCommand(pybullet);
+        IntPtr status = b3SubmitClientCommandAndWaitStatus(pybullet, cmd);
+
+        //System.IO.Directory.GetCurrentDirectory().ToString();//
+        //text.text = Add(4, 5).ToString();
+        text.text = UnityEngine.Random.Range(0f, 1f).ToString();// GetMyIdPlusTen(sharedAPI).ToString();
+    }
+
+    void OnDestroy()
+    {
+
+        DeleteSharedAPI(sharedAPI);
+    }
+}

examples/pybullet/unity3d/examples/NewBehaviourScript.cs.meta

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+fileFormatVersion: 2
+guid: 6197b3a0389e92c47b7d8698e5f61f06
+timeCreated: 1505961790
+licenseType: Free
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

examples/pybullet/unity3d/readme.txt

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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);
+}