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Bullet 2.x official repository with optional experimental Bullet 3 GPU rigid body pipeline
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Latest commit eae90eb Jun 27, 2016 @erwincoumans committed on GitHub Merge pull request #675 from erwincoumans/master
remove debug printf's, fix an issue introduced in a previous commit to btMultiJointMotor etc.
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Extras update to tinyrenderer synthetic camera May 31, 2016
build3 fix compile issues May 26, 2016
data add texture support in SDF, URDF for both OpenGL and software rendere… Jun 18, 2016
docs add Bullet logos in the docs/logo folder Aug 12, 2015
examples Merge pull request #669 from hellojas/loadURDF Jun 26, 2016
src remove printf's and fix an issue in btMultiJointMotor in previous commit Jun 27, 2016
test tweaks in pybullet and shared memory C-API: Jun 24, 2016
.travis.yml more travis/python testing fun Jun 21, 2016
AUTHORS.txt added LICENSE.txt and AUTHORS.txt file Apr 23, 2015 Add the old Bullet 2.x obsolete demos, and CMake buildsystem files, a… Dec 19, 2013
CMakeLists.txt Fix pybullet Windows build errors: C99 requires variables to be defin… Jun 13, 2016
Doxyfile add Doxyfile May 1, 2015
LICENSE.txt add latex source of Bullet 2.82 quickstart guide, todo: update to cur… Apr 29, 2015 Typos in readme Jun 15, 2016
UseBullet.cmake fix make install, when using CMake Mar 6, 2014
VERSION First draft of btMultiBody serialization, including optional names fo… Jul 9, 2015
appveyor.yml more appveyor fun Nov 24, 2015 move PD control from PhysicsServerCommandProcessor into btMultiBodyJo… Jun 24, 2016 move some easy-to-use build files for Mac OSX, Linux and Windows May 21, 2016
build_visual_studio.bat move some easy-to-use build files for Mac OSX, Linux and Windows May 21, 2016
bullet.pc.cmake Fix bullet.pc when built with CMAKE_INSTALL_PREFIX #626 May 13, 2016
xcode.command move some easy-to-use build files for Mac OSX, Linux and Windows May 21, 2016

Travis Build Status Appveyor Build status

Bullet 2.x including experimental Bullet 3 OpenCL.

This is the official repository of Bullet 2.x, moved from It includes the optional work-in-progress Bullet 3 GPU pipeline.

The Bullet 2 API will stay default and up-to-date while slowly moving to Bullet 3. The steps towards Bullet 3 are in a nutshell:

  1. The old Bullet2 demos are being merged into the examples/ExampleBrowser
  2. A new Bullet 3 API is created
  3. All Bullet2 functionality is added to Bullet 3.
  4. The OpenCL examples in the ExampleBrowser can be enabled using --enable_experimental_opencl

You can still use svn or svn externals using the github git repository: use svn co

Requirements for Bullet 2

A C++ compiler for C++ 2003. The library is tested on Windows, Linux, Mac OSX, iOS, Android, but should likely work on any platform with C++ compiler. Some optional demos require OpenGL 2 or OpenGL 3, there are some non-graphical demos and unit tests too.

Contributors and Coding Style information

Requirements for Bullet 3

The entire collision detection and rigid body dynamics is executed on the GPU.

A high-end desktop GPU, such as an AMD Radeon 7970 or NVIDIA GTX 680 or better. We succesfully tested the software under Windows, Linux and Mac OSX. The software currently doesn't work on OpenCL CPU devices. It might run on a laptop GPU but performance will not likely be very good. Note that often an OpenCL drivers fails to compile a kernel. Some unit tests exist to track down the issue, but more work is required to cover all OpenCL kernels.


All source code files are licensed under the permissive zlib license ( unless marked differently in a particular folder/file.

Build instructions for Bullet using premake. You can also use cmake instead.


Click on build3/vs2010.bat and open build3/vs2010/0MySolution.sln

Linux and Mac OSX gnu make

In a terminal type:

cd build3

Depending on your system (Linux 32bit, 64bit or Mac OSX) use one of the following lines

./premake4_linux gmake
./premake4_linux64 gmake
./premake4_osx gmake


cd gmake

Mac OSX Xcode

Click on build3/xcode4.command or in a terminal window execute

./premake_osx xcode4


The App_ExampleBrowser executables will be located in the bin folder. You can just run it though a terminal/command prompt, or by clicking it.

[--start_demo_name="Demo Name"]     Start with a selected demo  
[--enable_experimental_opencl]      Enable some experimental OpenCL examples
[--mp4=moviename.mp4]               Create a mp4 movie of the window, requires ffmpeg installed
[--mouse_move_multiplier=0.400000]  Set the mouse move sensitivity
[--mouse_wheel_multiplier=0.01]     Set the mouse wheel sensitivity
[--background_color_red= 0.9]       Set the red component for background color. Same for green and blue.
[--fixed_timestep= 0.0]             Use either a real-time delta time (0.0) or a fixed step size (0.016666)

You can use mouse picking to grab objects. When holding the ALT or CONTROL key, you have Maya style camera mouse controls. Press F1 to create a series of screenshots. Hit ESCAPE to exit the demo app.

See docs folder for further information.

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