cram_physics: bullet_reasoning | bullet_reasoning_demo | bullet_reasoning_designators | cffi_ros_utils | cl_bullet | cl_bullet_vis | cl_glx | cl_opengl | cl_urdf | cram_physics_utils | kdl_arm_kinematics | pr2_description_lowres | pr2_projection_process_modules | robot_mask | triangulate_point_cloud
Package Summary
A Common Lisp wrapper of the bullet physics engine
- Author: Lorenz Moesenlechner
- License: BSD
- Repository: tum-ros-pkg
- Source: git https://github.com/moesenle/cram_physics.git
Contents
Overview
cl_bullet is a common lisp wrapper around the Bullet physics engine. It consists of a C++ library that wraps Bullet classes and methods into C structs and functions and the corresponding common lisp FFI definitions. In addition, it provides a higher-level CLOS library that provides a lispy interface for Bullet and which hooks into the garbage collector to free unused Bullet objects automatically when they are not required anymore. Rigid bodies and the discrete-dynamics-world class are well tested, support from constraints is untested and might be broken.