Embed graphics server (shared memory) in PyBullet. Use pybullet.connect(pybullet.GRAPHICS_SERVER) to enable it.

TODO: enable for Mac OSX on mainloop, add tcp bridges from and to shared memory.

examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp

@@ -96,6 +96,8 @@ B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnectMain
 	return (b3PhysicsClientHandle)cl;
 }
 
+
+
 class InProcessPhysicsClientSharedMemory : public PhysicsClientSharedMemory
 {
 	btInProcessExampleBrowserInternalData* m_data;
@@ -127,6 +129,8 @@ public:
 	}
 };
 
+
+
 B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnect(int argc, char* argv[])
 {
 	InProcessPhysicsClientSharedMemory* cl = new InProcessPhysicsClientSharedMemory(argc, argv, 1);
@@ -306,4 +310,110 @@ B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessPhysicsServerFromExistingEx
 B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect2(void* guiHelperPtr)
 {
 	return b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect3(guiHelperPtr, SHARED_MEMORY_KEY);
-}
+}
+
+
+
+#include "SharedMemoryCommands.h"
+#include "PhysicsClientSharedMemory.h"
+#include "GraphicsSharedMemoryBlock.h"
+#include "PosixSharedMemory.h"
+#include "Win32SharedMemory.h"
+class InProcessGraphicsServerSharedMemory : public PhysicsClientSharedMemory
+{
+	btInProcessExampleBrowserInternalData* m_data2;
+	char** m_newargv;
+	SharedMemoryCommand m_command;
+	
+	GraphicsSharedMemoryBlock* m_testBlock1;
+	SharedMemoryInterface* m_sharedMemory;
+
+public:
+	InProcessGraphicsServerSharedMemory(int argc, char* argv[], bool useInProcessMemory)
+	{
+		int newargc = argc + 2;
+		m_newargv = (char**)malloc(sizeof(void*) * newargc);
+		char* t0 = (char*)"--unused";
+		m_newargv[0] = t0;
+
+		for (int i = 0; i < argc; i++)
+			m_newargv[i + 1] = argv[i];
+
+		char* t1 = (char*)"--start_demo_name=Graphics Server";
+		m_newargv[argc + 1] = t1;
+		m_data2 = btCreateInProcessExampleBrowser(newargc, m_newargv, useInProcessMemory);
+		SharedMemoryInterface* shMem = btGetSharedMemoryInterface(m_data2);
+		
+		setSharedMemoryInterface(shMem);
+		///////////////////
+
+#ifdef _WIN32
+		m_sharedMemory = new Win32SharedMemoryServer();
+#else
+		m_sharedMemory = new PosixSharedMemory();
+#endif
+
+			/// server always has to create and initialize shared memory
+		bool allowCreation = false;
+		m_testBlock1 = (GraphicsSharedMemoryBlock*)m_sharedMemory->allocateSharedMemory(
+			GRAPHICS_SHARED_MEMORY_KEY, GRAPHICS_SHARED_MEMORY_SIZE, allowCreation);
+
+	}
+
+	virtual ~InProcessGraphicsServerSharedMemory()
+	{
+		m_sharedMemory->releaseSharedMemory(GRAPHICS_SHARED_MEMORY_KEY, GRAPHICS_SHARED_MEMORY_SIZE);
+		delete m_sharedMemory;
+		
+		setSharedMemoryInterface(0);
+		btShutDownExampleBrowser(m_data2);
+		free(m_newargv);
+	}
+	virtual bool canSubmitCommand() const
+	{
+		if (m_testBlock1)
+		{
+			if (m_testBlock1->m_magicId != GRAPHICS_SHARED_MEMORY_MAGIC_NUMBER)
+			{
+				return false;
+			}
+		}
+		return true;
+	}
+
+	virtual struct SharedMemoryCommand* getAvailableSharedMemoryCommand()
+	{
+		return &m_command;
+	}
+
+	virtual bool submitClientCommand(const struct SharedMemoryCommand& command)
+	{
+		switch (command.m_type)
+		{
+		default:
+		{
+		}
+		}
+		return true;
+	}
+
+
+};
+
+
+B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessGraphicsServerAndConnectSharedMemory(int argc, char* argv[])
+{
+	InProcessGraphicsServerSharedMemory* cl = new InProcessGraphicsServerSharedMemory(argc, argv, 0);
+	cl->setSharedMemoryKey(SHARED_MEMORY_KEY + 1);
+	cl->connect();
+	return (b3PhysicsClientHandle)cl;
+}
+#if 0
+B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessGraphicsServerAndConnectMainThreadSharedMemory(int argc, char* argv[]);
+{
+	InProcessGraphicsServerSharedMemory* cl = new InProcessGraphicsServerSharedMemory(argc, argv, 0);
+	cl->setSharedMemoryKey(SHARED_MEMORY_KEY + 1);
+	cl->connect();
+	return (b3PhysicsClientHandle)cl;
+}
+#endif