Stack Summary

The basic geometric and math libraries used in ros.

• Author: Maintained by Tully Foote tfoote@willowgarage.com
• License: BSD,LGPL,ZLib
• Repository: wg-kforge
• Source: hg https://kforge.ros.org/geometry/bullet

Why should I use Bullet?

Bullet 3D Game Multiphysics Library provides state of the art collision detection, soft body and rigid body dynamics.

• Used by many game companies in AAA titles on Playstation 3, XBox 360, Nintendo Wii, PC and iPhone
• Modular extendible C++ design with hot-swap of most components
• Optimized back-ends with multi-threaded support for Playstation 3 Cell SPU, CUDA, OpenCL and other platforms
• Discrete and continuous collision detection (CCD)
• Swept collision queries
• Ray casting with custom collision filtering
• Generic convex support (using GJK), capsule, cylinder, cone, sphere, box and non-convex triangle meshes.
• Rigid body dynamics including constraint solvers, generic constraints, ragdolls, hinge, ball-socket
• Support for constraint limits and motors
• Soft body support including cloth, rope and deformable
• Bullet is integrated into Blender 3D and provides a Maya Plugin
• Supports import and export into COLLADA 1.4 Physics format
• Support for dynamic deformation of non-convex triangle meshes, by refitting the acceleration structures

The Library is free for commercial use and open source under the ZLib License.

External Documentation

This is a third party package with an external homepage and external API documentation.

Roadmap

The version of bullet distributed with ROS currently has patches against the official version of bullet. Our hope is to move towards the official version so that it can be a standard system install.