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"""A wrapper for pybullet to manage different clients."""
from __future__ import absolute_import
from __future__ import division
import functools
import inspect
import pybullet
class BulletClient(object):
"""A wrapper for pybullet to manage different clients."""
def __init__(self, connection_mode=None, hostName=None, options=''):
"""Creates a Bullet client and connects to a simulation.
Args:
connection_mode:
`None` connects to an existing simulation or, if fails, creates a
new headless simulation,
`pybullet.GUI` creates a new simulation with a GUI,
`pybullet.DIRECT` creates a headless simulation,
`pybullet.SHARED_MEMORY` connects to an existing simulation.
"""
self._shapes = {}
if connection_mode is None:
self._client = pybullet.connect(pybullet.SHARED_MEMORY, options=options)
if self._client >= 0:
return
else:
connection_mode = pybullet.DIRECT
if hostName is None:
self._client = pybullet.connect(connection_mode, options=options)
else:
self._client = pybullet.connect(connection_mode, hostName=hostName, options=options)
def __del__(self):
"""Clean up connection if not already done."""
if self._client>=0:
try:
pybullet.disconnect(physicsClientId=self._client)
self._client = -1
except pybullet.error:
pass
def __getattr__(self, name):
"""Inject the client id into Bullet functions."""
attribute = getattr(pybullet, name)
if inspect.isbuiltin(attribute):
attribute = functools.partial(attribute, physicsClientId=self._client)
if name=="disconnect":
self._client = -1
return attribute
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