/wgpu-robotic-simulator

3d robotics simulation in WGPU

Primary LanguageRust

Digital Twin Basics

My project for Northeastern's CS4300 Computer Graphics with Professor Shah. I built a basic robot simulator which parses a URDF file and can perform forward kinematics to control the joints of the robot. 2023-12-07-193455_963x730_scrot

The crate provides several modules:

  • wgpu_program provides a simple engine for rendering meshes and scene graphs
  • urdf parses URDF XML into a scene graph with transformation information, as well as visual, inertial, collision data
  • geometry provides mesh parsing and homogeneous transformations
  • shader convenience traits for compiling shader programs
  • bindings convenience traits for creating bindings to buffers in the program
  • camera data structure for creating camera
  • light data structure for adding lights
  • texture convenience for creating textures

build and run

To build the library with an up-to-date Rust toolchain:

cargo build

To run the XArm example:

cargo run --example=urdf_arm