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Quick first prototype/test to integrate pybullet into Unity,

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see readme.txt for details.
This commit is contained in:
erwincoumans
2017-09-20 23:18:18 -07:00
parent ae8f12e8ba
commit 6a7efac4c3
10 changed files with 3324 additions and 76 deletions
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86
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 {
[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);
}
}

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