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@@ -1,118 +1,118 @@ -[](https://travis-ci.org/bulletphysics/bullet3)
-[](https://ci.appveyor.com/project/erwincoumans/bullet3)
-
-# Bullet Physics SDK
-
-This is the official C++ source code repository of the Bullet Physics SDK: real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc.
-
-New in Bullet 2.85: pybullet Python bindings, improved support for robotics and VR. Use pip install pybullet and see [PyBullet Quickstart Guide](https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA/edit#heading=h.2ye70wns7io3).
-
-The Bullet 2 API will stay default and up-to-date while slowly moving to a new API.
-The steps towards a new API is in a nutshell:
-
-1. The old Bullet2 demos are being merged into the examples/ExampleBrowser
-2. A new physics-engine agnostic C-API is created, see examples/SharedMemory/PhysicsClientC_API.h
-3. Python bindings in pybullet are on top of this C-API, see examples/pybullet
-4. A Virtual Reality sandbox using openvr for HTC Vive and Oculus Rift is available
-5. The OpenCL examples in the ExampleBrowser can be enabled using --enable_experimental_opencl
-
-You can still use svn or svn externals using the github git repository: use svn co https://github.com/bulletphysics/bullet3/trunk
-
-## Requirements for Bullet 2
-
-A C++ compiler for C++ 2003. The library is tested on Windows, Linux, Mac OSX, iOS, Android,
-but should likely work on any platform with C++ compiler.
-Some optional demos require OpenGL 2 or OpenGL 3, there are some non-graphical demos and unit tests too.
-
-## Contributors and Coding Style information
-
-https://docs.google.com/document/d/1u9vyzPtrVoVhYqQOGNWUgjRbfwfCdIts_NzmvgiJ144/edit
-
-## Requirements for experimental OpenCL GPGPU support
-
-The entire collision detection and rigid body dynamics can be executed on the GPU.
-
-A high-end desktop GPU, such as an AMD Radeon 7970 or NVIDIA GTX 680 or better.
-We succesfully tested the software under Windows, Linux and Mac OSX.
-The software currently doesn't work on OpenCL CPU devices. It might run
-on a laptop GPU but performance will not likely be very good. Note that
-often an OpenCL drivers fails to compile a kernel. Some unit tests exist to
-track down the issue, but more work is required to cover all OpenCL kernels.
-
-## License
-
-All source code files are licensed under the permissive zlib license
-(http://opensource.org/licenses/Zlib) unless marked differently in a particular folder/file.
-
-## Build instructions for Bullet using premake. You can also use cmake instead.
-
-**Windows**
-
-Click on build_visual_studio_vr_pybullet_double.bat and open build3/vs2010/0MySolution.sln
-When asked, convert the projects to a newer version of Visual Studio.
-If you installed Python in the C:\ root directory, the batch file should find it automatically.
-Otherwise, edit this batch file to choose where Python include/lib directories are located.
-
-**Windows Virtual Reality sandbox for HTC Vive and Oculus Rift**
-
-Build and run the App_SharedMemoryPhysics_VR project, preferably in Release/optimized build.
-You can connect from Python pybullet to the sandbox using:
-
-```
-import pybullet as p
-p.connect(p.SHARED_MEMORY) #or (p.TCP, "localhost", 6667) or (p.UDP, "192.168.86.10",1234)
-```
-
-**Linux and Mac OSX gnu make**
-
-Make sure cmake is installed (sudo apt-get install cmake, brew install cmake, or https://cmake.org)
-
-In a terminal type:
-
- ./build_cmake_pybullet_double.sh
-
-This script will invoke cmake and build in the build_cmake directory. You can find pybullet in Bullet/examples/pybullet.
-The BulletExampleBrowser binary will be in Bullet/examples/ExampleBrowser.
-
-You can also build Bullet using premake. There are premake executables in the build3 folder.
-Depending on your system (Linux 32bit, 64bit or Mac OSX) use one of the following lines
-Using premake:
-```
- cd build3
- ./premake4_linux --double gmake
- ./premake4_linux64 --double gmake
- ./premake4_osx --double --enable_pybullet gmake
-```
-Then
-```
- cd gmake
- make
-```
-
-Note that on Linux, you need to use cmake to build pybullet, since the compiler has issues of mixing shared and static libraries.
-
-**Mac OSX Xcode**
-
-Click on build3/xcode4.command or in a terminal window execute
-
- ./premake_osx xcode4
-
-## Usage
-
-The App_ExampleBrowser executables will be located in the bin folder.
-You can just run it though a terminal/command prompt, or by clicking it.
-
-
-```
-[--start_demo_name="Demo Name"] Start with a selected demo
-[--mp4=moviename.mp4] Create a mp4 movie of the window, requires ffmpeg installed
-[--mouse_move_multiplier=0.400000] Set the mouse move sensitivity
-[--mouse_wheel_multiplier=0.01] Set the mouse wheel sensitivity
-[--background_color_red= 0.9] Set the red component for background color. Same for green and blue
-[--fixed_timestep= 0.0] Use either a real-time delta time (0.0) or a fixed step size (0.016666)
-```
-
-You can use mouse picking to grab objects. When holding the ALT or CONTROL key, you have Maya style camera mouse controls.
-Press F1 to create a series of screenshots. Hit ESCAPE to exit the demo app.
-
-Check out the docs folder and the Bullet physics forums for further information.
+[](https://travis-ci.org/bulletphysics/bullet3) +[](https://ci.appveyor.com/project/erwincoumans/bullet3) + +# Bullet Physics SDK + +This is the official C++ source code repository of the Bullet Physics SDK: real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc. + +New in Bullet 2.85: pybullet Python bindings, improved support for robotics and VR. Use pip install pybullet and see [PyBullet Quickstart Guide](https://docs.google.com/document/d/10sXEhzFRSnvFcl3XxNGhnD4N2SedqwdAvK3dsihxVUA/edit#heading=h.2ye70wns7io3). + +The Bullet 2 API will stay default and up-to-date while slowly moving to a new API. +The steps towards a new API is in a nutshell: + +1. The old Bullet2 demos are being merged into the examples/ExampleBrowser +2. A new physics-engine agnostic C-API is created, see examples/SharedMemory/PhysicsClientC_API.h +3. Python bindings in pybullet are on top of this C-API, see examples/pybullet +4. A Virtual Reality sandbox using openvr for HTC Vive and Oculus Rift is available +5. The OpenCL examples in the ExampleBrowser can be enabled using --enable_experimental_opencl + +You can still use svn or svn externals using the github git repository: use svn co https://github.com/bulletphysics/bullet3/trunk + +## Requirements for Bullet 2 + +A C++ compiler for C++ 2003. The library is tested on Windows, Linux, Mac OSX, iOS, Android, +but should likely work on any platform with C++ compiler. +Some optional demos require OpenGL 2 or OpenGL 3, there are some non-graphical demos and unit tests too. + +## Contributors and Coding Style information + +https://docs.google.com/document/d/1u9vyzPtrVoVhYqQOGNWUgjRbfwfCdIts_NzmvgiJ144/edit + +## Requirements for experimental OpenCL GPGPU support + +The entire collision detection and rigid body dynamics can be executed on the GPU. + +A high-end desktop GPU, such as an AMD Radeon 7970 or NVIDIA GTX 680 or better. +We succesfully tested the software under Windows, Linux and Mac OSX. +The software currently doesn't work on OpenCL CPU devices. It might run +on a laptop GPU but performance will not likely be very good. Note that +often an OpenCL drivers fails to compile a kernel. Some unit tests exist to +track down the issue, but more work is required to cover all OpenCL kernels. + +## License + +All source code files are licensed under the permissive zlib license +(http://opensource.org/licenses/Zlib) unless marked differently in a particular folder/file. + +## Build instructions for Bullet using premake. You can also use cmake instead. + +**Windows** + +Click on build_visual_studio_vr_pybullet_double.bat and open build3/vs2010/0MySolution.sln +When asked, convert the projects to a newer version of Visual Studio. +If you installed Python in the C:\ root directory, the batch file should find it automatically. +Otherwise, edit this batch file to choose where Python include/lib directories are located. + +**Windows Virtual Reality sandbox for HTC Vive and Oculus Rift** + +Build and run the App_SharedMemoryPhysics_VR project, preferably in Release/optimized build. +You can connect from Python pybullet to the sandbox using: + +``` +import pybullet as p +p.connect(p.SHARED_MEMORY) #or (p.TCP, "localhost", 6667) or (p.UDP, "192.168.86.10",1234) +``` + +**Linux and Mac OSX gnu make** + +Make sure cmake is installed (sudo apt-get install cmake, brew install cmake, or https://cmake.org) + +In a terminal type: + + ./build_cmake_pybullet_double.sh + +This script will invoke cmake and build in the build_cmake directory. You can find pybullet in Bullet/examples/pybullet. +The BulletExampleBrowser binary will be in Bullet/examples/ExampleBrowser. + +You can also build Bullet using premake. There are premake executables in the build3 folder. +Depending on your system (Linux 32bit, 64bit or Mac OSX) use one of the following lines +Using premake: +``` + cd build3 + ./premake4_linux --double gmake + ./premake4_linux64 --double gmake + ./premake4_osx --double --enable_pybullet gmake +``` +Then +``` + cd gmake + make +``` + +Note that on Linux, you need to use cmake to build pybullet, since the compiler has issues of mixing shared and static libraries. + +**Mac OSX Xcode** + +Click on build3/xcode4.command or in a terminal window execute + + ./premake_osx xcode4 + +## Usage + +The App_ExampleBrowser executables will be located in the bin folder. +You can just run it though a terminal/command prompt, or by clicking it. + + +``` +[--start_demo_name="Demo Name"] Start with a selected demo +[--mp4=moviename.mp4] Create a mp4 movie of the window, requires ffmpeg installed +[--mouse_move_multiplier=0.400000] Set the mouse move sensitivity +[--mouse_wheel_multiplier=0.01] Set the mouse wheel sensitivity +[--background_color_red= 0.9] Set the red component for background color. Same for green and blue +[--fixed_timestep= 0.0] Use either a real-time delta time (0.0) or a fixed step size (0.016666) +``` + +You can use mouse picking to grab objects. When holding the ALT or CONTROL key, you have Maya style camera mouse controls. +Press F1 to create a series of screenshots. Hit ESCAPE to exit the demo app. + +Check out the docs folder and the Bullet physics forums for further information. |