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module test

# include("./Bullet.jl/deps/build.jl")
include("./Bullet.jl/src/Bullet.jl")

function testing()
    sm = Bullet.connect(kind=:direct)
    Bullet.set_gravity(sm, [0,0,-10])
    Bullet.load_urdf(sm, "./Bullet.jl/deps/usr/data/planeMesh.urdf")
    Bullet.load_urdf(sm, "./Bullet.jl/deps/usr/data/cube_larger.urdf", position=[0,0,1000])

    for i in 1:100000
        Bullet.step_simulation(sm)
    end
    Bullet.disconnect()
end

end

def test():
    import pybullet as p
    sm = p.connect(p.DIRECT)
    p.setGravity(0,0,-10)
    plane_id = p.loadURDF("./Bullet.jl/deps/usr/data/planeMesh.urdf")
    cube_id = p.loadURDF("./Bullet.jl/deps/usr/data/cube_larger.urdf", [0,0,1000])
    
    for i in range(1,100000):
        p.stepSimulation()

    p.disconnect()

test()

(@v1.6) pkg> activate .
  Activating environment at `~/Documents/rl/bullet_envs.jl/Project.toml`

julia> include("./test.jl")
Main.test

julia> using BenchmarkTools

julia> @btime test.testing()
  572.122 ms (27 allocations: 1.08 KiB)

python -m timeit -s "from test import test; test"
pybullet build time: May 18 2021 18:01:29
50000000 loops, best of 5: 4.56 nsec per loop