public static PhysicsClient CreatePhysicsClientSharedMemory() { PhysicsClient pc = new PhysicsClient(); pc._native = NativeMethods.b3ConnectSharedMemory(NativeConstants.SHARED_MEMORY_KEY); return(pc); }
public static PhysicsClient CreatePhysicsClientDirect() { PhysicsClient pc = new PhysicsClient(); pc._native = NativeMethods.b3ConnectPhysicsDirect(); return(pc); }
// Use this for initialization void Start() { Debug.Log("start begin"); Debug.Log("bb"); bodies = new List <Robot1>(); pybullet = PhysicsClient.CreatePhysicsClientSharedMemory(); if (!pybullet.CanSubmitCommand()) { pybullet = PhysicsClient.CreatePhysicsClientDirect(); } pybullet.SetGravity(Physics.gravity); Robot1 cube = CreateRobot("quadruped/minitaur", new Vector3(0, 15, 0), Quaternion.Euler(35, 0, 0)); //Robot1 plane = CreateRobot("plane", Vector3.zero, Quaternion.Euler(-90, 0, 0)); bodies.Add(cube); //bodies.Add(plane); }
public CommandStatus SubmitClientCommandAndWaitStatus(PhysicsClient command) { IntPtr cmd = NativeMethods.b3SubmitClientCommandAndWaitStatus(_native, command._native); return(new CommandStatus(cmd)); }