30 lines
906 B
Python
30 lines
906 B
Python
import functools
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import inspect
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import pybullet
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class BulletClient(object):
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"""A wrapper for pybullet to manage different clients."""
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def __init__(self, connection_mode=pybullet.DIRECT, options=""):
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"""Create a simulation and connect to it."""
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self._client = pybullet.connect(pybullet.SHARED_MEMORY)
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if (self._client < 0):
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print("options=", options)
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self._client = pybullet.connect(connection_mode, options=options)
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self._shapes = {}
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def __del__(self):
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"""Clean up connection if not already done."""
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try:
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pybullet.disconnect(physicsClientId=self._client)
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except pybullet.error:
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pass
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def __getattr__(self, name):
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"""Inject the client id into Bullet functions."""
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attribute = getattr(pybullet, name)
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if inspect.isbuiltin(attribute):
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attribute = functools.partial(attribute, physicsClientId=self._client)
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return attribute
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