48 lines
1.4 KiB
Python
48 lines
1.4 KiB
Python
"""A wrapper for pybullet to manage different clients."""
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from __future__ import absolute_import
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from __future__ import division
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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=None):
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"""Creates a Bullet client and connects to a simulation.
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Args:
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connection_mode:
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`None` connects to an existing simulation or, if fails, creates a
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new headless simulation,
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`pybullet.GUI` creates a new simulation with a GUI,
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`pybullet.DIRECT` creates a headless simulation,
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`pybullet.SHARED_MEMORY` connects to an existing simulation.
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"""
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self._shapes = {}
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if connection_mode is None:
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self._client = pybullet.connect(pybullet.SHARED_MEMORY)
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if self._client >= 0:
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return
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else:
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connection_mode = pybullet.DIRECT
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self._client = pybullet.connect(connection_mode)
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def __del__(self):
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"""Clean up connection if not already done."""
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if self._client>=0:
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try:
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pybullet.disconnect(physicsClientId=self._client)
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self._client = -1
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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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attribute = functools.partial(attribute, physicsClientId=self._client)
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if name=="disconnect":
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self._client = -1
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return attribute
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