🎯 Bullet Physics SDK

A powerful real-time physics engine for games, robotics, and simulation

Documentation • PyBullet Forums • Examples • Contributing

🌟 Features

• Real-time Collision Detection: Fast and accurate physics calculations
• Multi-Physics Simulation: Support for rigid body, soft body, and fluid dynamics
• Cross-Platform: Windows, Linux, macOS, iOS, Android support
• GPU Acceleration: OpenCL support for high-performance computing
• Python Bindings: Easy integration with machine learning frameworks
• VR Support: HTC Vive and Oculus Rift integration
• Robotics Tools: Inverse kinematics, motion planning, and control

📦 Installation

PyBullet (Recommended)

pip3 install pybullet --upgrade --user

Quick Start Examples

# Try these examples to get started
python3 -m pybullet_envs.examples.enjoy_TF_AntBulletEnv_v0_2017may
python3 -m pybullet_envs.examples.enjoy_TF_HumanoidFlagrunHarderBulletEnv_v1_2017jul
python3 -m pybullet_envs.deep_mimic.testrl --arg_file run_humanoid3d_backflip_args.txt

🛠️ Building from Source

Windows

Using Visual Studio

# Clone repository
git clone https://github.com/bulletphysics/bullet3.git
cd bullet3

# Build using provided batch file
build_visual_studio_vr_pybullet_double.bat

# Open in Visual Studio
start build3/vs2010/0_Bullet3Solution.sln

Using vcpkg

git clone https://github.com/Microsoft/vcpkg.git
cd vcpkg
bootstrap-vcpkg.bat
vcpkg integrate install
vcpkg install bullet3

Linux

Prerequisites

sudo apt-get update
sudo apt-get install build-essential cmake python3-dev

Build

# Using CMake
./build_cmake_pybullet_double.sh

# Using Premake
cd build3
./premake4_linux64 --double gmake
cd gmake
make

macOS

Prerequisites

brew install cmake python3

Build

# Using CMake
./build_cmake_pybullet_double.sh

# Using Premake
cd build3
./premake4_osx --double --enable_pybullet gmake
cd gmake
make

💻 Usage

Example Browser

./App_ExampleBrowser [options]

Command Line Options

Option	Description
--start_demo_name="Demo Name"	Start specific demo
--mp4=filename.mp4	Record video (requires ffmpeg)
--mouse_move_multiplier=0.4	Mouse sensitivity
--fixed_timestep=0.0	Physics timestep (0.0=real-time)

Controls

Key/Action	Description
Mouse Click + Drag	Pick and move objects
Alt/Ctrl + Mouse	Camera controls
F1	Screenshot
ESC	Exit

🚀 Advanced Features

GPU Acceleration

Requirements:

• High-end GPU (AMD Radeon 7970/NVIDIA GTX 680 or better)
• OpenCL-compatible drivers
• Windows/Linux/macOS support

VR Integration

import pybullet as p
# Connect to VR sandbox
p.connect(p.SHARED_MEMORY)  # or (p.TCP, "localhost", 6667)

📚 Citation

@MISC{coumans2021,
    author = {Erwin Coumans and Yunfei Bai},
    title = {PyBullet, a Python module for physics simulation},
    howpublished = {\url{http://pybullet.org}},
    year = {2016--2021}
}

🤝 Contributing

1. Read our contribution guidelines
2. Fork the repository
3. Create a feature branch
4. Submit a pull request

A powerful real-time physics engine for games, robotics, and simulation

Documentation • PyBullet Forums • Examples • Contributing

🌟 Features

• Real-time Collision Detection: Fast and accurate physics calculations
• Multi-Physics Simulation: Support for rigid body, soft body, and fluid dynamics
• Cross-Platform: Windows, Linux, macOS, iOS, Android support
• GPU Acceleration: OpenCL support for high-performance computing
• Python Bindings: Easy integration with machine learning frameworks
• VR Support: HTC Vive and Oculus Rift integration
• Robotics Tools: Inverse kinematics, motion planning, and control

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👥 Author

• Ali Heydari - GitHub Profile

📄 License

This project is licensed under the zlib License.

🙋 Support

• PyBullet Forums - Community discussion
• Issue Tracker - Bug reports
• Documentation - Guides and API reference

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Maintained by Ali Heydari and the Bullet Physics community ❤️