Bullet Physics in D

[bachmeier]

On Friday, 31 January 2020 at 10:02:24 UTC, Gregor Mückl wrote:
> On Friday, 31 January 2020 at 09:00:45 UTC, Andrea Fontana 
> wrote:
>> On Friday, 31 January 2020 at 00:37:27 UTC, Gregor Mückl wrote:
>>>
>>> This piqued my interest, too, but I don't see any 
>>> documentation. The only C wrapper that I found is part of the 
>>> shared memory client/server example. Pybullet piggybacks on 
>>> that (an example program including code from a separate 
>>> example). At first glance, all of this looks pretty weird and 
>>> I can't make out how stable, complete or efficient it 
>>> actually is.
>>
>> https://github.com/bulletphysics/bullet3/blob/master/examples/pybullet/pybullet.c
>>
>> This sounds like a c binding
>
> This is what I was referring to. The actual C wrapper layer is 
> in the SharedMemory example code:
>
> https://github.com/bulletphysics/bullet3/blob/master/examples/SharedMemory/PhysicsClientC_API.h
>
> The file you linked is the python binding around that.
>
> Bullet currently consists of two nearly entirely independent 
> implementations in src/. This C wrapper seems to wrap only the 
> newer bullet3 implementation, which looks noticeably less 
> complete to me.

It must have started out as a Java implementation. Just look at 
the verbosity of the names:

B3_SHARED_API void 
b3CalculateInverseKinematicsAddTargetPositionWithOrientation(b3SharedMemoryCommandHandle commandHandle, int endEffectorLinkIndex, const double targetPosition[/*3*/], const double targetOrientation[/*4*/]);