add grpcPlugin, it can work in GUI, SHARED_MEMORY_SERVER, DIRECT and other modes.
example script to start server from pybullet:
import pybullet as p
p.connect(p.GUI)
#if statically linked plugin
id = p.loadPlugin("grpcPlugin")
#dynamics loading the plugin
#id = p.loadPlugin("E:/develop/bullet3/bin/pybullet_grpcPlugin_vs2010_x64_debug.dll", postFix="_grpcPlugin")
#start the GRPC server at hostname, port
if (id>=0):
p.executePluginCommand(id, "localhost:1234")
Only in DIRECT mode, since there is no 'ping' you need to call to handle RCPs:
numRPC = 10
while (1):
p.executePluginCommand(id, intArgs=[numRPC])
I got the error "C2664: 'HMODULE LoadLibraryW(LPCWSTR)': cannot convert argument 1 from 'const char *' to 'LPCWSTR'".
Mapping B3_DYNLIB_OPEN to the Ansi version of LoadLibrary fixed the error for me.
pass events (keyboard, mouse, vr controllers etc) to the plugin, and clear them after the tick callback, so that it doesn't interfere with Python 'getEvents'
Add preTickPluginCallback/postTickPluginCallback
User pointer for b3PluginContext, to store objects (class/struct instances)
Pass ints and floats as optional argument for plugin executePluginCommand
