expose texture unique id after loading URD file, so you can restore to the original texture after changing it to a custom texture. See also getTextureUid.py example.

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -2719,6 +2719,7 @@ bool PhysicsServerCommandProcessor::processImportedObjects(const char* fileName,
 	SaveWorldObjectData sd;
 	sd.m_fileName = fileName;
 
+    int currentOpenGLTextureIndex = 0;
     
     for (int m =0; m<u2b.getNumModels();m++)
     {
@@ -2885,6 +2886,44 @@ bool PhysicsServerCommandProcessor::processImportedObjects(const char* fileName,
 			}
 		}
 
+        {
+            int startShapeIndex = 0;
+            
+            if (m_data->m_pluginManager.getRenderInterface())
+            {
+                int totalNumVisualShapes = m_data->m_pluginManager.getRenderInterface()->getNumVisualShapes(bodyUniqueId);
+                //int totalBytesPerVisualShape = sizeof (b3VisualShapeData);
+                //int visualShapeStorage = bufferSizeInBytes / totalBytesPerVisualShape - 1;
+                b3VisualShapeData tmpShape;
+                
+                int remain = totalNumVisualShapes - startShapeIndex;
+                int shapeIndex = startShapeIndex;
+                
+                int success = m_data->m_pluginManager.getRenderInterface()->getVisualShapesData(bodyUniqueId,shapeIndex,&tmpShape);
+                if (success)
+                {
+                    if (tmpShape.m_tinyRendererTextureId>=0)
+                    {
+                        int openglTextureUniqueId = -1;
+                        
+                        //find companion opengl texture unique id and create a 'textureUid'
+                        if (currentOpenGLTextureIndex<u2b.getNumAllocatedTextures())
+                        {
+                            openglTextureUniqueId  = u2b.getAllocatedTexture(currentOpenGLTextureIndex);
+                            currentOpenGLTextureIndex++;
+                        }
+
+                        int texHandle = m_data->m_textureHandles.allocHandle();
+                        InternalTextureHandle* texH = m_data->m_textureHandles.getHandle(texHandle);
+                        if(texH)
+                        {
+                            texH->m_tinyRendererTextureId = tmpShape.m_tinyRendererTextureId;
+                            texH->m_openglTextureId = openglTextureUniqueId;
+                        }
+                    }
+                }
+            }
+        }
     }
 
 	
@@ -2895,6 +2934,14 @@ bool PhysicsServerCommandProcessor::processImportedObjects(const char* fileName,
 	}
 
     
+/*
+ int texHandle = m_data->m_textureHandles.allocHandle();
+ InternalTextureHandle* texH = m_data->m_textureHandles.getHandle(texHandle);
+ if(texH)
+ {
+ texH->m_tinyRendererTextureId = -1;
+ texH->m_openglTextureId = -1;
+ */
 
 	for (int i=0;i<u2b.getNumAllocatedMeshInterfaces();i++)
 	{
@@ -9284,6 +9331,25 @@ bool PhysicsServerCommandProcessor::processRequestVisualShapeInfoCommand(const s
 			shapeIndex,
 			visualShapeStoragePtr);
 		if (success) {
+            
+            //find the matching texture unique ids.
+            if (visualShapeStoragePtr->m_tinyRendererTextureId>=0)
+            {
+                b3AlignedObjectArray<int> usedHandles;
+                m_data->m_textureHandles.getUsedHandles(usedHandles);
+                
+                for (int i=0;i<usedHandles.size();i++)
+                {
+                    int texHandle =usedHandles[i];
+                    InternalTextureHandle* texH = m_data->m_textureHandles.getHandle(texHandle);
+                    if (texH && (texH->m_tinyRendererTextureId == visualShapeStoragePtr->m_tinyRendererTextureId))
+                    {
+                        visualShapeStoragePtr->m_openglTextureId =texH->m_openglTextureId;
+                        visualShapeStoragePtr->m_textureUniqueId = texHandle;
+                    }
+                }
+            }
+            
 			serverCmd.m_sendVisualShapeArgs.m_numRemainingVisualShapes = remain-1;
 			serverCmd.m_sendVisualShapeArgs.m_numVisualShapesCopied = 1;
 			serverCmd.m_sendVisualShapeArgs.m_startingVisualShapeIndex = clientCmd.m_requestVisualShapeDataArguments.m_startingVisualShapeIndex;

examples/SharedMemory/SharedMemoryPublic.h

@@ -595,6 +595,11 @@ typedef union {
 #define MAX_RAY_HITS MAX_RAY_INTERSECTION_BATCH_SIZE
 #define VISUAL_SHAPE_MAX_PATH_LEN 1024
 
+enum b3VisualShapeDataFlags
+{
+	eVISUAL_SHAPE_DATA_TEXTURE_UNIQUE_IDS = 1,
+};
+
 struct b3VisualShapeData
 {
 	int m_objectUniqueId;
@@ -605,6 +610,10 @@ struct b3VisualShapeData
     double m_localVisualFrame[7];//pos[3], orn[4]
 	//todo: add more data if necessary (material color etc, although material can be in asset file .obj file)
     double m_rgbaColor[4];
+    int m_tinyRendererTextureId;
+    int m_textureUniqueId;
+    int m_openglTextureId;
+    
 };
 
 struct b3VisualShapeInformation

examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp

@@ -155,6 +155,69 @@ btVector3 b3RobotSimulatorClientAPI_NoDirect::getEulerFromQuaternion(const btQua
 	return rpy2;
 }
 
+int b3RobotSimulatorClientAPI_NoDirect::loadTexture(const std::string& fileName)
+{
+    if (!isConnected())
+    {
+        b3Warning("Not connected");
+        return -1;
+    }
+    btAssert(b3CanSubmitCommand(m_data->m_physicsClientHandle));
+
+    b3SharedMemoryCommandHandle commandHandle;
+    b3SharedMemoryStatusHandle statusHandle;
+    int statusType;
+   
+    {
+        commandHandle = b3InitLoadTexture(m_data->m_physicsClientHandle, fileName.c_str());
+        
+        statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
+        statusType = b3GetStatusType(statusHandle);
+        if (statusType == CMD_LOAD_TEXTURE_COMPLETED)
+        {
+            return b3GetStatusTextureUniqueId(statusHandle);
+        }
+    }
+    return -1;
+}
+
+
+bool b3RobotSimulatorClientAPI_NoDirect::changeVisualShape(const struct b3RobotSimulatorChangeVisualShapeArgs& args)
+{
+    if (!isConnected())
+    {
+        b3Warning("Not connected");
+        return false;
+    }
+    
+    int objectUniqueId = args.m_objectUniqueId;
+    int jointIndex = args.m_linkIndex;
+    int shapeIndex = args.m_shapeIndex;
+    int textureUniqueId = args.m_textureUniqueId;
+    
+    b3SharedMemoryCommandHandle commandHandle;
+    b3SharedMemoryStatusHandle statusHandle;
+    int statusType;
+    
+    commandHandle = b3InitUpdateVisualShape(m_data->m_physicsClientHandle, objectUniqueId, jointIndex, shapeIndex, textureUniqueId);
+    
+    if (args.m_hasSpecularColor)
+    {
+        double specularColor[3] = {args.m_specularColor[0],args.m_specularColor[1],args.m_specularColor[2]};
+        b3UpdateVisualShapeSpecularColor(commandHandle,specularColor);
+    }
+    if (args.m_hasRgbaColor)
+    {
+        double rgbaColor[4] = {args.m_rgbaColor[0],args.m_rgbaColor[1],args.m_rgbaColor[2],args.m_rgbaColor[3]};
+        b3UpdateVisualShapeRGBAColor(commandHandle,rgbaColor);
+    }
+    
+    statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
+    statusType = b3GetStatusType(statusHandle);
+
+    return (statusType == CMD_VISUAL_SHAPE_UPDATE_COMPLETED);
+}
+
 int b3RobotSimulatorClientAPI_NoDirect::loadURDF(const std::string& fileName, const struct b3RobotSimulatorLoadUrdfFileArgs& args)
 {
 	int robotUniqueId = -1;
@@ -2177,7 +2240,8 @@ void b3RobotSimulatorClientAPI_NoDirect::restoreStateFromMemory(int stateId)
 bool b3RobotSimulatorClientAPI_NoDirect::getVisualShapeData(int bodyUniqueId, b3VisualShapeInformation &visualShapeInfo)
 {
 	b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
-	if (sm == 0) {
+	if (sm == 0)
+    {
 		b3Warning("Not connected");
 		return false;
 	}
@@ -2185,17 +2249,17 @@ bool b3RobotSimulatorClientAPI_NoDirect::getVisualShapeData(int bodyUniqueId, b3
 	b3SharedMemoryStatusHandle statusHandle;
 	int statusType;
 
-	{
+    commandHandle = b3InitRequestVisualShapeInformation(sm, bodyUniqueId);
-		commandHandle = b3InitRequestVisualShapeInformation(sm, bodyUniqueId);
+    statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
-		statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
+    statusType = b3GetStatusType(statusHandle);
-		statusType = b3GetStatusType(statusHandle);
 
-		btAssert(statusType == CMD_VISUAL_SHAPE_INFO_COMPLETED);
+    btAssert(statusType == CMD_VISUAL_SHAPE_INFO_COMPLETED);
-		if (statusType == CMD_VISUAL_SHAPE_INFO_COMPLETED) {
+    if (statusType == CMD_VISUAL_SHAPE_INFO_COMPLETED)
-			b3GetVisualShapeInformation(sm, &visualShapeInfo);
+    {
-		}
+        b3GetVisualShapeInformation(sm, &visualShapeInfo);
-		return true;
+        return true;
-	}
+    }
+    return false;
 }
 
 void b3RobotSimulatorClientAPI_NoDirect::setAdditionalSearchPath(const std::string& path)

examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h

@@ -60,6 +60,30 @@ struct b3RobotSimulatorLoadFileResults
 	}
 };
 
+struct b3RobotSimulatorChangeVisualShapeArgs
+{
+    int m_objectUniqueId;
+    int m_linkIndex;
+    int m_shapeIndex;
+    int m_textureUniqueId;
+    btVector4 m_rgbaColor;
+    bool m_hasRgbaColor;
+    btVector3 m_specularColor;
+    bool m_hasSpecularColor;
+    
+    b3RobotSimulatorChangeVisualShapeArgs()
+    :m_objectUniqueId(-1),
+    m_linkIndex(-1),
+    m_shapeIndex(-1),
+    m_textureUniqueId(-1),
+    m_rgbaColor(0,0,0,1),
+    m_hasRgbaColor(false),
+    m_specularColor(1,1,1),
+    m_hasSpecularColor(false)
+    {
+    }
+};
+
 struct b3RobotSimulatorJointMotorArgs
 {
 	int m_controlMode;
@@ -505,6 +529,10 @@ public:
 	bool loadBullet(const std::string& fileName, b3RobotSimulatorLoadFileResults& results);
 	bool saveBullet(const std::string& fileName);
 	
+    int loadTexture(const std::string& fileName);
+    
+    bool changeVisualShape(const struct b3RobotSimulatorChangeVisualShapeArgs& args);
+    
 	bool savePythonWorld(const std::string& fileName);
 	
 	bool getBodyInfo(int bodyUniqueId, struct b3BodyInfo* bodyInfo);
@@ -648,7 +676,7 @@ public:
 
 	bool getCollisionShapeData(int bodyUniqueId, int linkIndex, b3CollisionShapeInformation &collisionShapeInfo);
 
-	bool getVisualShapeData(int bodyUniqueId, b3VisualShapeInformation &visualShapeInfo);
+	bool getVisualShapeData(int bodyUniqueId, struct b3VisualShapeInformation &visualShapeInfo);
 
 	int saveStateToMemory();
 	void restoreStateFromMemory(int stateId);

examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp

@@ -671,12 +671,14 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(
 			visualShape.m_rgbaColor[1] = rgbaColor[1];
 			visualShape.m_rgbaColor[2] = rgbaColor[2];
 			visualShape.m_rgbaColor[3] = rgbaColor[3];
+            visualShape.m_openglTextureId = -1;
+            visualShape.m_tinyRendererTextureId = -1;
+            visualShape.m_textureUniqueId = -1;
             
 			{
 				B3_PROFILE("convertURDFToVisualShape");
 				convertURDFToVisualShape(vis, pathPrefix, localInertiaFrame.inverse()*childTrans, vertices, indices, textures, visualShape);
 			}
-			m_data->m_visualShapes.push_back(visualShape);
 			
             if (vertices.size() && indices.size())
             {
@@ -701,13 +703,15 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(
 				}
                 visuals->m_renderObjects.push_back(tinyObj);
             }
+            
+            btAssert(textures.size()<=1);
 			for (int i=0;i<textures.size();i++)
 			{
-				if (!textures[i].m_isCached)
+                visualShape.m_tinyRendererTextureId = m_data->m_textures.size();
-				{
+                m_data->m_textures.push_back(textures[i]);                
-					free(textures[i].textureData1);
-				}
 			}
+            m_data->m_visualShapes.push_back(visualShape);
+
 		}
 	}
 }
@@ -1199,13 +1203,13 @@ void TinyRendererVisualShapeConverter::changeShapeTexture(int objectUniqueId, in
 				for (int v = 0; v < visualArray->m_renderObjects.size(); v++)
 				{
 					TinyRenderObjectData* renderObj = visualArray->m_renderObjects[v];
+                    
 					if ((shapeIndex < 0) || (shapeIndex == v))
 					{
 						renderObj->m_model->setDiffuseTextureFromData(m_data->m_textures[textureUniqueId].textureData1, m_data->m_textures[textureUniqueId].m_width, m_data->m_textures[textureUniqueId].m_height);
 					}
 				}
 			}
-
 		}
 	}
 }

examples/pybullet/examples/getTextureUid.py

@@ -0,0 +1,19 @@
+import pybullet as p
+p.connect(p.GUI)
+plane = p.loadURDF("plane.urdf")
+visualData = p.getVisualShapeData(plane, p.VISUAL_SHAPE_DATA_TEXTURE_UNIQUE_IDS)
+print(visualData)
+curTexUid = visualData[0][8]
+print(curTexUid)
+texUid = p.loadTexture("tex256.png")
+print("texUid=",texUid)
+
+p.changeVisualShape(plane,-1,textureUniqueId=texUid)
+
+for i in range (100):
+	p.getCameraImage(320,200)
+p.changeVisualShape(plane,-1,textureUniqueId=curTexUid)
+
+for i in range (100):
+	p.getCameraImage(320,200)
+

examples/pybullet/examples/projective_texture.py

@@ -13,8 +13,8 @@ bearStartPos2 = [0,0,0]
 bearStartOrientation2 = p.getQuaternionFromEuler([0,0,0])
 bearId2 = p.loadURDF("teddy_large.urdf",bearStartPos2, bearStartOrientation2)
 textureId = p.loadTexture("checker_grid.jpg")
-p.changeVisualShape(objectUniqueId=0, linkIndex=-1, textureUniqueId=textureId)
+#p.changeVisualShape(objectUniqueId=0, linkIndex=-1, textureUniqueId=textureId)
-p.changeVisualShape(objectUniqueId=1, linkIndex=-1, textureUniqueId=textureId)
+#p.changeVisualShape(objectUniqueId=1, linkIndex=-1, textureUniqueId=textureId)
 
 
 useRealTimeSimulation = 1

examples/pybullet/pybullet.c

@@ -5428,8 +5428,10 @@ static PyObject* pybullet_getVisualShapeData(PyObject* self, PyObject* args, PyO
 	PyObject* pyResultList = 0;
 	int physicsClientId = 0;
 	b3PhysicsClientHandle sm = 0;
-	static char* kwlist[] = {"objectUniqueId", "physicsClientId", NULL};
+	int flags=0;
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|i", kwlist, &objectUniqueId, &physicsClientId))
+
+	static char* kwlist[] = {"objectUniqueId", "flags", "physicsClientId", NULL};
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "i|ii", kwlist, &objectUniqueId, &flags, &physicsClientId))
 	{
 		return NULL;
 	}
@@ -5450,7 +5452,9 @@ static PyObject* pybullet_getVisualShapeData(PyObject* self, PyObject* args, PyO
 			pyResultList = PyTuple_New(visualShapeInfo.m_numVisualShapes);
 			for (i = 0; i < visualShapeInfo.m_numVisualShapes; i++)
 			{
-				PyObject* visualShapeObList = PyTuple_New(8);
+				int numFields = flags&eVISUAL_SHAPE_DATA_TEXTURE_UNIQUE_IDS ? 9 : 8;
+
+				PyObject* visualShapeObList = PyTuple_New(numFields);
 				PyObject* item;
 				item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_objectUniqueId);
 				PyTuple_SetItem(visualShapeObList, 0, item);
@@ -5511,6 +5515,11 @@ static PyObject* pybullet_getVisualShapeData(PyObject* self, PyObject* args, PyO
 					PyTuple_SetItem(rgba, 3, item);
 					PyTuple_SetItem(visualShapeObList, 7, rgba);
 				}
+				if (flags&eVISUAL_SHAPE_DATA_TEXTURE_UNIQUE_IDS)
+				{
+					item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_textureUniqueId);
+                                	PyTuple_SetItem(visualShapeObList, 8, item);
+				}
 
 				PyTuple_SetItem(pyResultList, i, visualShapeObList);
 			}
@@ -9656,6 +9665,8 @@ initpybullet(void)
 	PyModule_AddIntConstant(m, "URDF_USE_SELF_COLLISION_EXCLUDE_PARENT", URDF_USE_SELF_COLLISION_EXCLUDE_PARENT);
 	PyModule_AddIntConstant(m, "URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS", URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS);
 
+	PyModule_AddIntConstant(m, "VISUAL_SHAPE_DATA_TEXTURE_UNIQUE_IDS", eVISUAL_SHAPE_DATA_TEXTURE_UNIQUE_IDS);
+
 	PyModule_AddIntConstant(m, "MAX_RAY_INTERSECTION_BATCH_SIZE", MAX_RAY_INTERSECTION_BATCH_SIZE_STREAMING);
 
 	PyModule_AddIntConstant(m, "B3G_F1", B3G_F1);