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embed TCP graphics server in PyBullet for easier working-from-home

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This allows to render at a different machine, sending all assets across the TCP network, using port 6667 by default.
You can use ssh port forwarding to get this working:
ssh -R 6667:localhost:6667 username@remotehost.com -v

python3 -m pybullet_utils.graphicsServer
python3 -m pybullet_utils.graphicsClient

Note that there are still some tcp networking issues that can cause a hang, just restart graphics server and graphics client if it hangs.
This commit is contained in:
Erwin Coumans
2020-03-20 15:43:52 -07:00
parent c06859723b
commit 344bd629ee
15 changed files with 1421 additions and 25 deletions
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1
examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.h
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@@ -26,6 +26,7 @@ extern "C"
B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect3(void* guiHelperPtr, int sharedMemoryKey);
//create a shared memory physics server, with a RemoteGUIHelper (connect to remote graphics server) and allow to set shared memory key
B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect4(void* guiHelperPtr, int sharedMemoryKey);
B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnectTCP(const char* hostName, int port);
///ignore the following APIs, they are for internal use for example browser
void b3InProcessRenderSceneInternal(b3PhysicsClientHandle clientHandle);