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https://github.com/bulletphysics/bullet3
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344bd629ee
This allows to render at a different machine, sending all assets across the TCP network, using port 6667 by default. You can use ssh port forwarding to get this working: ssh -R 6667:localhost:6667 username@remotehost.com -v python3 -m pybullet_utils.graphicsServer python3 -m pybullet_utils.graphicsClient Note that there are still some tcp networking issues that can cause a hang, just restart graphics server and graphics client if it hangs.
76 lines
3.5 KiB
C
76 lines
3.5 KiB
C
#ifndef REMOTE_HELPER_TCP_H
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#define REMOTE_HELPER_TCP_H
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#include "../CommonInterfaces/CommonGUIHelperInterface.h"
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///a RemoteGUIHelper will connect to an existing graphics server over TCP
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struct RemoteGUIHelperTCP : public GUIHelperInterface
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{
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struct RemoteGUIHelperTCPInternalData* m_data;
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RemoteGUIHelperTCP(const char* hostName, int port);
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virtual ~RemoteGUIHelperTCP();
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virtual void setVisualizerFlag(int flag, int enable);
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virtual void createRigidBodyGraphicsObject(btRigidBody* body, const btVector3& color);
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virtual void createCollisionObjectGraphicsObject(btCollisionObject* body, const btVector3& color);
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virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape);
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virtual bool getCameraInfo(int* width, int* height, float viewMatrix[16], float projectionMatrix[16], float camUp[3], float camForward[3], float hor[3], float vert[3], float* yaw, float* pitch, float* camDist, float camTarget[3]) const;
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virtual void syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWorld);
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virtual void syncPhysicsToGraphics2(const class btDiscreteDynamicsWorld* rbWorld);
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virtual void syncPhysicsToGraphics2(const GUISyncPosition* positions, int numPositions);
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virtual void render(const btDiscreteDynamicsWorld* rbWorld);
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virtual void createPhysicsDebugDrawer(btDiscreteDynamicsWorld* rbWorld);
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virtual int registerTexture(const unsigned char* texels, int width, int height);
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virtual int registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices, int primitiveType, int textureId);
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virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling);
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virtual void removeAllGraphicsInstances();
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virtual void removeGraphicsInstance(int graphicsUid);
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virtual void changeRGBAColor(int instanceUid, const double rgbaColor[4]);
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virtual Common2dCanvasInterface* get2dCanvasInterface();
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virtual CommonParameterInterface* getParameterInterface();
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virtual CommonRenderInterface* getRenderInterface();
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virtual CommonGraphicsApp* getAppInterface();
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virtual void setUpAxis(int axis);
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virtual void resetCamera(float camDist, float yaw, float pitch, float camPosX, float camPosY, float camPosZ);
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virtual void copyCameraImageData(const float viewMatrix[16], const float projectionMatrix[16],
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unsigned char* pixelsRGBA, int rgbaBufferSizeInPixels,
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float* depthBuffer, int depthBufferSizeInPixels,
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int* segmentationMaskBuffer, int segmentationMaskBufferSizeInPixels,
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int startPixelIndex, int width, int height, int* numPixelsCopied);
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virtual void setProjectiveTextureMatrices(const float viewMatrix[16], const float projectionMatrix[16]);
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virtual void setProjectiveTexture(bool useProjectiveTexture);
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virtual void autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWorld);
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virtual void drawText3D(const char* txt, float posX, float posZY, float posZ, float size);
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virtual void drawText3D(const char* txt, float position[3], float orientation[4], float color[4], float size, int optionFlag);
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virtual int addUserDebugLine(const double debugLineFromXYZ[3], const double debugLineToXYZ[3], const double debugLineColorRGB[3], double lineWidth, double lifeTime, int trackingVisualShapeIndex, int replaceItemUid);
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virtual void removeUserDebugItem(int debugItemUniqueId);
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virtual void removeAllUserDebugItems();
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int uploadData(const unsigned char* data, int sizeInBytes, int slot);
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};
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#endif //REMOTE_HELPER_TCP_H
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