0efc67841d
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])
39 lines
1.3 KiB
C++
39 lines
1.3 KiB
C++
#ifndef B3_PLUGIN_MANAGER_H
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#define B3_PLUGIN_MANAGER_H
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#include "plugins/b3PluginAPI.h"
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enum b3PluginManagerTickMode
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{
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B3_PRE_TICK_MODE=1,
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B3_POST_TICK_MODE,
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B3_PROCESS_CLIENT_COMMANDS_TICK,
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};
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class b3PluginManager
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{
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struct b3PluginManagerInternalData* m_data;
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public:
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b3PluginManager(class PhysicsCommandProcessorInterface* physSdk);
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virtual ~b3PluginManager();
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int loadPlugin(const char* pluginPath, const char* postFixStr ="");
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void unloadPlugin(int pluginUniqueId);
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int executePluginCommand(int pluginUniqueId, const struct b3PluginArguments* arguments);
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void addEvents(const struct b3VRControllerEvent* vrControllerEvents, int numVRControllerEvents, const struct b3KeyboardEvent* keyEvents, int numKeyEvents, const struct b3MouseEvent* mouseEvents, int numMouseEvents);
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void clearEvents();
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void addNotification(const struct b3Notification& notification);
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void reportNotifications();
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void tickPlugins(double timeStep, b3PluginManagerTickMode tickMode);
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int registerStaticLinkedPlugin(const char* pluginPath, PFN_INIT initFunc, PFN_EXIT exitFunc, PFN_EXECUTE executeCommandFunc, PFN_TICK preTickFunc, PFN_TICK postTickFunc, PFN_GET_RENDER_INTERFACE getRendererFunc, PFN_TICK processClientCommandsFunc);
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void selectPluginRenderer(int pluginUniqueId);
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UrdfRenderingInterface* getRenderInterface();
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};
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#endif //B3_PLUGIN_MANAGER_H
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