devcontainer: use VirtualGL on mac hosts (#30090)

* Install virtualgl in a container

* Initialize virtualgl in bashrc

* Create virtual screen when starting

* Start vglclient on host

* Run Xvfb in separate tmux session to keep it running

* Add note about virtualGL in readme

* Add wget

* source vglrun

* Start xvfb only when forwarding x11

* Remove section about vglrun from readme

* HOST_DISPLAY implementation

* Add MOTD message instead of readme section

.devcontainer/Dockerfile

@@ -1,8 +1,13 @@
 FROM ghcr.io/commaai/openpilot-base:latest
 
-RUN apt update && apt install -y vim net-tools usbutils htop ripgrep tmux
+RUN apt update && apt install -y vim net-tools usbutils htop ripgrep tmux wget mesa-utils xvfb libxtst6 libxv1 libglu1-mesa libegl1-mesa
 RUN pip install ipython jupyter jupyterlab
 
+RUN cd /tmp && \
+    ARCH=$(arch | sed s/aarch64/arm64/ | sed s/x86_64/amd64/) && \
+    curl -L -o virtualgl.deb "https://downloads.sourceforge.net/project/virtualgl/3.1/virtualgl_3.1_$ARCH.deb" && \
+    dpkg -i virtualgl.deb
+
 USER batman
 
 RUN cd $HOME && \