RocketSim

https://github.com/zealanl/rocketsim
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RocketSim is a highly efficient C++ library for simulating Rocket League gameplay and physics,...
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License:MIT
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### Install and Run PyBullet Examples

Source: https://github.com/zealanl/rocketsim/blob/main/libsrc/bullet3-3.24/README.md

Demonstrates how to install the PyBullet Python bindings using pip and run example environments for reinforcement learning and robotics simulations.

```bash
pip3 install pybullet --upgrade --user
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
```

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### Build Bullet with vcpkg

Source: https://github.com/zealanl/rocketsim/blob/main/libsrc/bullet3-3.24/README.md

Instructions for building and installing the Bullet Physics SDK using the vcpkg dependency manager on a system with Git installed.

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

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### Build Bullet with GNU Make

Source: https://github.com/zealanl/rocketsim/blob/main/libsrc/bullet3-3.24/README.md

Instructs on how to compile the Bullet physics engine after generating the build files using Premake. This command navigates into the generated make directory and executes the make command.

```Shell
cd gmake
make
```

--------------------------------

### Generate Makefiles with Premake for Bullet

Source: https://github.com/zealanl/rocketsim/blob/main/libsrc/bullet3-3.24/README.md

Shows how to use Premake to generate build files (specifically for GNU Make) for the Bullet physics engine on different operating systems. This includes options for double precision and enabling PyBullet support.

```Shell
cd build3
./premake4_linux --double gmake
./premake4_linux64 --double gmake
./premake4_osx --double --enable_pybullet gmake
```

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### RocketSim CMakeLists.txt Configuration

Source: https://github.com/zealanl/rocketsim/blob/main/CMakeLists.txt

This snippet shows the main CMakeLists.txt file for the RocketSim project. It sets up the project, finds source files, and defines the library target with specific C++ standards.

```cmake
cmake_minimum_required (VERSION 3.8)

project("RocketSim")

# Add all headers and code files
file(GLOB_RECURSE FILES_ROCKETSIM "${PROJECT_SOURCE_DIR}/src/*.cpp" "${PROJECT_SOURCE_DIR}/src/*.h")

# Only include bullet headers when using MSVC, otherwise just code files
file(GLOB_RECURSE FILES_BULLET "${PROJECT_SOURCE_DIR}/libsrc/bullet3-3.24/*.cpp" "${PROJECT_SOURCE_DIR}/libsrc/bullet3-3.24/*.h")

add_library(RocketSim ${FILES_ROCKETSIM} ${FILES_BULLET})

set_target_properties(RocketSim PROPERTIES LINKER_LANGUAGE CXX)
set_target_properties(RocketSim PROPERTIES CXX_STANDARD 20)
```

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### Generate Xcode Project with Premake for Mac OSX

Source: https://github.com/zealanl/rocketsim/blob/main/libsrc/bullet3-3.24/README.md

Details the command to use Premake on Mac OSX to generate an Xcode project file for building the Bullet physics engine. This allows developers to use Xcode for managing and compiling the project.

```Shell
./premake_osx xcode4
```

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### RocketSim Performance Comparison (C++)

Source: https://github.com/zealanl/rocketsim/blob/main/README.md

This snippet details the performance of different versions of RocketSim, measured in ticks per second (tps). It outlines the testing environment, including OS, CPU, RAM speed, compiler, arena type, number of cars, and input generation strategy. The data shows significant performance improvements across versions.

```text
OS: Windows 10 (Process Priority = Normal)
CPU: Intel i5-11400 @ 2.60GHz
Ram Speed: 3200MZ
Compiler: MSVC 14.16
=================================
Arena: Default (Soccar)
Cars: 2 on each team (2v2)
Inputs: Randomly pre-generated, changed every 2-60 ticks for each car
=================================
Single-thread performance (calculated using average CPU cycles per tick on the RocketSim thread) (1M ticks simulated):
v1.0.0 = 30,334tps
v1.1.0 = 48,191tps
v1.2.0 = 50,763tps
v2.0.0 = ~50,000tps
v2.1.0 = 114,481tps
```

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### Build Bullet with CMake on Linux/Mac OSX

Source: https://github.com/zealanl/rocketsim/blob/main/libsrc/bullet3-3.24/README.md

Provides the command to build the Bullet physics engine using CMake on Linux and Mac OSX systems. This script invokes CMake to configure the build process and then compiles the project.

```Shell
./build_cmake_pybullet_double.sh
```

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### Connect to PyBullet via Shared Memory

Source: https://github.com/zealanl/rocketsim/blob/main/libsrc/bullet3-3.24/README.md

Demonstrates how to establish a connection to the PyBullet physics simulation using shared memory. This allows Python scripts to interact with a running simulation. Alternative connection methods like TCP and UDP are also mentioned.

```Python
import pybullet as p
p.connect(p.SHARED_MEMORY) #or (p.TCP, "localhost", 6667) or (p.UDP, "192.168.86.10",1234)
```

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### PyBullet Citation

Source: https://github.com/zealanl/rocketsim/blob/main/libsrc/bullet3-3.24/README.md

Provides the recommended citation format for using PyBullet in research publications, including author, title, and publication details.

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