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

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TODO: enable for Mac OSX on mainloop, add tcp bridges from and to shared memory.
This commit is contained in:
Erwin Coumans
2020-03-19 14:18:35 -07:00
parent d3fdf434ed
commit c06859723b
7 changed files with 164 additions and 30 deletions
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7
examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.h
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@@ -11,11 +11,14 @@ extern "C"
///think more about naming. The b3ConnectPhysicsLoopback
B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnect(int argc, char* argv[]);
B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnectSharedMemory(int argc, char* argv[]);
B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnectMainThread(int argc, char* argv[]);
B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnectSharedMemory(int argc, char* argv[]);
B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessPhysicsServerAndConnectMainThreadSharedMemory(int argc, char* argv[]);
B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessGraphicsServerAndConnectSharedMemory(int argc, char* argv[]);
B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessGraphicsServerAndConnectMainThreadSharedMemory(int argc, char* argv[]);
B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect(void* guiHelperPtr);
//create a shared memory physics server, with a DummyGUIHelper (no graphics)
B3_SHARED_API b3PhysicsClientHandle b3CreateInProcessPhysicsServerFromExistingExampleBrowserAndConnect2(void* guiHelperPtr);