Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

add pybullet.connect(pybullet.GUI_SERVER) option. This allows shared memory connections, acting as a physics server. You can connect using SHARED_MEMORY to this GUI_SERVER.

Browse Source
This commit is contained in:
Erwin Coumans
2017-08-14 17:02:20 -07:00
parent aafaa7e33e
commit 60b60ef9fd
7 changed files with 49 additions and 27 deletions
Download Patch File Download Diff File Expand all files Collapse all files

18
examples/pybullet/pybullet.c
View File

@@ -294,6 +294,7 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
int method = eCONNECT_GUI;
int i;
char* options="";
b3PhysicsClientHandle sm = 0;
if (sNumPhysicsClients >= MAX_PHYSICS_CLIENTS)
@@ -354,9 +355,21 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
char* argv[2] = {"unused",options};
#ifdef __APPLE__
sm = b3CreateInProcessPhysicsServerAndConnectMainThread(argc, argv);
sm = b3CreateInProcessPhysicsServerAndConnectMainThread(argc, argv,1);
#else
sm = b3CreateInProcessPhysicsServerAndConnect(argc, argv);
sm = b3CreateInProcessPhysicsServerAndConnect(argc, argv,1);
#endif
break;
}
case eCONNECT_GUI_SERVER:
{
int argc = 2;
char* argv[2] = {"unused",options};
#ifdef __APPLE__
sm = b3CreateInProcessPhysicsServerAndConnectMainThread(argc, argv,0);
#else
sm = b3CreateInProcessPhysicsServerAndConnect(argc, argv,0);
#endif
break;
}
@@ -7261,6 +7274,7 @@ initpybullet(void)
PyModule_AddIntConstant(m, "GUI", eCONNECT_GUI); // user read
PyModule_AddIntConstant(m, "UDP", eCONNECT_UDP); // user read
PyModule_AddIntConstant(m, "TCP", eCONNECT_TCP); // user read
PyModule_AddIntConstant(m, "GUI_SERVER", eCONNECT_GUI_SERVER); // user read
PyModule_AddIntConstant(m, "JOINT_REVOLUTE", eRevoluteType); // user read
PyModule_AddIntConstant(m, "JOINT_PRISMATIC", ePrismaticType); // user read