Add API to change texture with object id and link index.

examples/SharedMemory/PhysicsClientC_API.cpp

@@ -1272,7 +1272,7 @@ b3SharedMemoryCommandHandle b3InitLoadTexture(b3PhysicsClientHandle physClient,
     return (b3SharedMemoryCommandHandle) command;
 }
 
-b3SharedMemoryCommandHandle b3InitUpdateVisualShape(b3PhysicsClientHandle physClient, int bodyUniqueId, int textureUniqueId)
+b3SharedMemoryCommandHandle b3InitUpdateVisualShape(b3PhysicsClientHandle physClient, int bodyUniqueId, int jointIndex, int shapeIndex, int textureUniqueId)
 {
     PhysicsClient* cl = (PhysicsClient* ) physClient;
     b3Assert(cl);
@@ -1281,6 +1281,8 @@ b3SharedMemoryCommandHandle b3InitUpdateVisualShape(b3PhysicsClientHandle physCl
     b3Assert(command);
     command->m_type = CMD_UPDATE_VISUAL_SHAPE;
     command->m_updateVisualShapeDataArguments.m_bodyUniqueId = bodyUniqueId;
+    command->m_updateVisualShapeDataArguments.m_jointIndex = jointIndex;
+    command->m_updateVisualShapeDataArguments.m_shapeIndex = shapeIndex;
     command->m_updateVisualShapeDataArguments.m_textureUniqueId = textureUniqueId;
     command->m_updateFlags = 0;
     return (b3SharedMemoryCommandHandle) command;

examples/SharedMemory/PhysicsClientC_API.h

@@ -100,7 +100,7 @@ b3SharedMemoryCommandHandle b3InitRequestVisualShapeInformation(b3PhysicsClientH
 void b3GetVisualShapeInformation(b3PhysicsClientHandle physClient, struct b3VisualShapeInformation* visualShapeInfo);
 
 b3SharedMemoryCommandHandle b3InitLoadTexture(b3PhysicsClientHandle physClient, const char* filename);
-b3SharedMemoryCommandHandle b3InitUpdateVisualShape(b3PhysicsClientHandle physClient, int bodyUniqueId, int textureUniqueId);
+b3SharedMemoryCommandHandle b3InitUpdateVisualShape(b3PhysicsClientHandle physClient, int bodyUniqueId, int jointIndex, int shapeIndex, int textureUniqueId);
 
 b3SharedMemoryCommandHandle	b3InitPhysicsParamCommand(b3PhysicsClientHandle physClient);
 int	b3PhysicsParamSetGravity(b3SharedMemoryCommandHandle commandHandle, double gravx,double gravy, double gravz);

examples/SharedMemory/PhysicsClientExample.cpp

@@ -25,6 +25,9 @@ struct MyMotorInfo2
 int camVisualizerWidth = 320;//1024/3;
 int camVisualizerHeight = 240;//768/3;
 
+int loadTextureCount = 0;
+int setTextureCount = 0;
+
 enum CustomCommands
 {
 	CMD_CUSTOM_SET_REALTIME_SIMULATION = CMD_MAX_CLIENT_COMMANDS+1,
@@ -242,7 +245,7 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
     {
         case  CMD_LOAD_URDF:
         {
-            b3SharedMemoryCommandHandle commandHandle = b3LoadUrdfCommandInit(m_physicsClientHandle, "kuka_iiwa/model_white.urdf");
+            b3SharedMemoryCommandHandle commandHandle = b3LoadUrdfCommandInit(m_physicsClientHandle, "kuka_iiwa/model.urdf");
             //setting the initial position, orientation and other arguments are optional
             double startPosX = 0;
             static double startPosY = 0;
@@ -260,9 +263,9 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
             b3SharedMemoryCommandHandle commandHandle = b3LoadSdfCommandInit(m_physicsClientHandle, "two_cubes.sdf");//kuka_iiwa/model.sdf");
             b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
             */
-            b3SharedMemoryCommandHandle commandHandle = b3LoadUrdfCommandInit(m_physicsClientHandle, "sphere_big.urdf");
+            b3SharedMemoryCommandHandle commandHandle = b3LoadUrdfCommandInit(m_physicsClientHandle, "table/table.urdf");
             //setting the initial position, orientation and other arguments are optional
-            b3LoadUrdfCommandSetStartPosition(commandHandle,0.5,0.5,0.5);
+            b3LoadUrdfCommandSetStartPosition(commandHandle,2.0,2.0,0.5);
             b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
             break;
         }
@@ -489,15 +492,36 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
 		}
         case CMD_UPDATE_VISUAL_SHAPE:
         {
-            b3SharedMemoryCommandHandle commandHandle = b3InitUpdateVisualShape(m_physicsClientHandle,8,0);
+            if (setTextureCount == 0)
-            b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
+            {
+                b3SharedMemoryCommandHandle commandHandle = b3InitUpdateVisualShape(m_physicsClientHandle,1,0,0,0);
+                b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
+            }
+            else if (setTextureCount == 1)
+            {
+                b3SharedMemoryCommandHandle commandHandle = b3InitUpdateVisualShape(m_physicsClientHandle,1,0,0,1);
+                b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
+            }
+            setTextureCount++;
+            if (setTextureCount >=2)
+                setTextureCount = 0;
             break;
         }
         case CMD_LOAD_TEXTURE:
         {
-            const char filename[] = "/Users/yunfeibai/Documents/dev/bullet-change-texture/bullet3/data/checker_huge.gif";
+            if (loadTextureCount == 0)
-            b3SharedMemoryCommandHandle commandHandle = b3InitLoadTexture(m_physicsClientHandle, filename);
+            {
-            b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
+                const char filename[] = "/Users/yunfeibai/Documents/dev/bullet-change-texture/bullet3/data/cube.png";
+                b3SharedMemoryCommandHandle commandHandle = b3InitLoadTexture(m_physicsClientHandle, filename);
+                b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
+            }
+            else if (loadTextureCount ==1)
+            {
+                const char filename[] = "/Users/yunfeibai/Documents/dev/bullet-change-texture/bullet3/data/checker_huge.gif";
+                b3SharedMemoryCommandHandle commandHandle = b3InitLoadTexture(m_physicsClientHandle, filename);
+                b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
+            }
+            loadTextureCount++;
             break;
         }
         default:

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -3006,7 +3006,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                     SharedMemoryStatus& serverCmd = serverStatusOut;
                     serverCmd.m_type = CMD_VISUAL_SHAPE_UPDATE_FAILED;
                     
-                    m_data->m_visualConverter.activateShapeTexture(clientCmd.m_updateVisualShapeDataArguments.m_bodyUniqueId, clientCmd.m_updateVisualShapeDataArguments.m_textureUniqueId);
+                    m_data->m_visualConverter.activateShapeTexture(clientCmd.m_updateVisualShapeDataArguments.m_bodyUniqueId, clientCmd.m_updateVisualShapeDataArguments.m_jointIndex, clientCmd.m_updateVisualShapeDataArguments.m_shapeIndex, clientCmd.m_updateVisualShapeDataArguments.m_textureUniqueId);
                     
                     serverCmd.m_type = CMD_VISUAL_SHAPE_UPDATE_COMPLETED;
                     hasStatus = true;

examples/SharedMemory/SharedMemoryCommands.h

@@ -160,6 +160,8 @@ struct RequestVisualShapeDataArgs
 struct UpdateVisualShapeDataArgs
 {
     int m_bodyUniqueId;
+    int m_jointIndex;
+    int m_shapeIndex;
     int m_textureUniqueId;
 };
 

examples/SharedMemory/TinyRendererVisualShapeConverter.cpp

@@ -832,6 +832,7 @@ void TinyRendererVisualShapeConverter::resetAll()
 
 void TinyRendererVisualShapeConverter::activateShapeTexture(int shapeUniqueId, int textureUniqueId)
 {
+    btAssert(textureUniqueId < m_data->m_textures.size());
     TinyRendererObjectArray** ptrptr = m_data->m_swRenderInstances.getAtIndex(shapeUniqueId);
     if (ptrptr && *ptrptr)
     {
@@ -840,6 +841,29 @@ void TinyRendererVisualShapeConverter::activateShapeTexture(int shapeUniqueId, i
     }
 }
 
+void TinyRendererVisualShapeConverter::activateShapeTexture(int objectUniqueId, int jointIndex, int shapeIndex, int textureUniqueId)
+{
+    int start = -1;
+    //find first one, then count how many
+    for (int i = 0; i < m_data->m_visualShapes.size(); i++)
+    {
+        printf("object id: %d\n", m_data->m_visualShapes[i].m_objectUniqueId);
+        if (m_data->m_visualShapes[i].m_objectUniqueId == objectUniqueId && m_data->m_visualShapes[i].m_linkIndex == jointIndex)
+        {
+            start = i;
+            break;
+        }
+    }
+    
+    if (start >= 0)
+    {
+        if (start + shapeIndex < m_data->m_visualShapes.size())
+        {
+            activateShapeTexture(start + shapeIndex, textureUniqueId);
+        }
+    }
+}
+
 int TinyRendererVisualShapeConverter::registerTexture(unsigned char* texels, int width, int height)
 {
     MyTexture2 texData;