Add programmatic render API and a basic test.

examples/SharedMemory/PhysicsClientC_API.cpp

@@ -1252,7 +1252,32 @@ void b3GetVisualShapeInformation(b3PhysicsClientHandle physClient, struct b3Visu
 	}
 }
 
+b3SharedMemoryCommandHandle b3InitUpdateVisualShape(b3PhysicsClientHandle physClient)
+{
+    /*
+    PhysicsClient* cl = (PhysicsClient* ) physClient;
+    b3Assert(cl);
+    b3Assert(cl->canSubmitCommand());
+    
+    struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
+    b3Assert(command);
+    command->m_type = CMD_UPDATE_VISUAL_SHAPE;
+    command->m_updateFlags = 0;
+    
+    return (b3SharedMemoryCommandHandle) command;
+     */
+    PhysicsClient* cl = (PhysicsClient* ) physClient;
+    b3Assert(cl);
+    b3Assert(cl->canSubmitCommand());
+    struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
+    b3Assert(command);
+    command->m_type = CMD_UPDATE_VISUAL_SHAPE;
+    //command->m_requestVisualShapeDataArguments.m_bodyUniqueId = 0;
+    //command->m_requestVisualShapeDataArguments.m_startingVisualShapeIndex = 0;
+    command->m_updateFlags = 0;
+    return (b3SharedMemoryCommandHandle) command;
 
+}
 
 b3SharedMemoryCommandHandle b3ApplyExternalForceCommandInit(b3PhysicsClientHandle physClient)
 {

examples/SharedMemory/PhysicsClientC_API.h

@@ -99,6 +99,7 @@ void b3GetContactPointInformation(b3PhysicsClientHandle physClient, struct b3Con
 b3SharedMemoryCommandHandle b3InitRequestVisualShapeInformation(b3PhysicsClientHandle physClient, int bodyUniqueIdA);
 void b3GetVisualShapeInformation(b3PhysicsClientHandle physClient, struct b3VisualShapeInformation* visualShapeInfo);
 
+b3SharedMemoryCommandHandle b3InitUpdateVisualShape(b3PhysicsClientHandle physClient);
 
 b3SharedMemoryCommandHandle	b3InitPhysicsParamCommand(b3PhysicsClientHandle physClient);
 int	b3PhysicsParamSetGravity(b3SharedMemoryCommandHandle commandHandle, double gravx,double gravy, double gravz);

examples/SharedMemory/PhysicsClientExample.cpp

@@ -481,6 +481,12 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
 			}
 			break;
 		}
+        case CMD_UPDATE_VISUAL_SHAPE:
+        {
+            b3SharedMemoryCommandHandle commandHandle = b3InitUpdateVisualShape(m_physicsClientHandle);
+            b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
+            break;
+        }
         default:
         {
             b3Error("Unknown buttonId");
@@ -560,6 +566,7 @@ void	PhysicsClientExample::createButtons()
         createButton("Step Sim",CMD_STEP_FORWARD_SIMULATION,  isTrigger);
 		createButton("Realtime Sim",CMD_CUSTOM_SET_REALTIME_SIMULATION,  isTrigger);
 		createButton("Get Visual Shape Info",CMD_REQUEST_VISUAL_SHAPE_INFO,  isTrigger);
+        createButton("Update Visual Shape",CMD_UPDATE_VISUAL_SHAPE,  isTrigger);
         createButton("Send Bullet Stream",CMD_SEND_BULLET_DATA_STREAM,  isTrigger);
 		if (m_options!=eCLIENTEXAMPLE_SERVER)
 		{
@@ -997,14 +1004,20 @@ void	PhysicsClientExample::stepSimulation(float deltaTime)
 			{
 				b3Warning("Cannot get visual shape information");
 			}
-
+            if (statusType == CMD_VISUAL_SHAPE_UPDATE_FAILED)
+            {
+                b3Warning("Cannot update visual shape");
+            }
 			if (statusType == CMD_VISUAL_SHAPE_INFO_COMPLETED)
 			{
 				b3VisualShapeInformation shapeInfo;
 				b3GetVisualShapeInformation(m_physicsClientHandle, &shapeInfo);
 				b3Printf("Num visual shapes: %d", shapeInfo.m_numVisualShapes);
 			}
-
+            if (statusType == CMD_VISUAL_SHAPE_UPDATE_COMPLETED)
+            {
+                b3Printf("Visual shape update completed.");
+            }
 			if (statusType == CMD_CONTACT_POINT_INFORMATION_COMPLETED)
 			{
 				b3ContactInformation contactPointData;

examples/SharedMemory/PhysicsClientSharedMemory.cpp

@@ -657,6 +657,15 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
 				b3Warning("Visual Shape Info Request failed");
 				break;
 			}
+            case CMD_VISUAL_SHAPE_UPDATE_COMPLETED:
+            {
+                break;
+            }
+            case CMD_VISUAL_SHAPE_UPDATE_FAILED:
+            {
+                b3Warning("Visual Shape Update failed");
+                break;
+            }
             default: {
                 b3Error("Unknown server status %d\n", serverCmd.m_type);
                 btAssert(0);

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -3001,6 +3001,18 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                     hasStatus = true;
                     break;
                 }
+                case CMD_UPDATE_VISUAL_SHAPE:
+                {
+                    SharedMemoryStatus& serverCmd = serverStatusOut;
+                    serverCmd.m_type = CMD_VISUAL_SHAPE_UPDATE_FAILED;
+                    
+                    m_data->m_visualConverter.activateShapeTexture(0, 0);
+                    
+                    serverCmd.m_type = CMD_VISUAL_SHAPE_UPDATE_COMPLETED;
+                    hasStatus = true;
+
+                    break;
+                }
                 default:
                 {
                     b3Error("Unknown command encountered");

examples/SharedMemory/SharedMemoryPublic.h

@@ -35,6 +35,7 @@ enum EnumSharedMemoryClientCommand
     CMD_REQUEST_CONTACT_POINT_INFORMATION,
 	CMD_SAVE_WORLD,
 	CMD_REQUEST_VISUAL_SHAPE_INFO,
+    CMD_UPDATE_VISUAL_SHAPE,
     //don't go beyond this command!
     CMD_MAX_CLIENT_COMMANDS,
     
@@ -81,6 +82,8 @@ enum EnumSharedMemoryServerStatus
 		CMD_SAVE_WORLD_FAILED,
         CMD_VISUAL_SHAPE_INFO_COMPLETED,
         CMD_VISUAL_SHAPE_INFO_FAILED,
+        CMD_VISUAL_SHAPE_UPDATE_COMPLETED,
+        CMD_VISUAL_SHAPE_UPDATE_FAILED,
         //don't go beyond 'CMD_MAX_SERVER_COMMANDS!
         CMD_MAX_SERVER_COMMANDS
 };

examples/SharedMemory/TinyRendererVisualShapeConverter.cpp

@@ -33,6 +33,7 @@ subject to the following restrictions:
 #include <fstream>
 #include "../Importers/ImportURDFDemo/UrdfParser.h"
 #include "../SharedMemory/SharedMemoryPublic.h"//for b3VisualShapeData
+#include "../TinyRenderer/model.h"
 
 
 enum MyFileType
@@ -68,6 +69,7 @@ struct TinyRendererVisualShapeConverterInternalData
 	int m_swWidth;
 	int m_swHeight;
 	TGAImage m_rgbColorBuffer;
+    TGAImage m_texture;
 	b3AlignedObjectArray<float> m_depthBuffer;
 	b3AlignedObjectArray<int> m_segmentationMaskBuffer;
 	
@@ -77,7 +79,8 @@ struct TinyRendererVisualShapeConverterInternalData
 	:m_upAxis(2),
 	m_swWidth(START_WIDTH),
 	m_swHeight(START_HEIGHT),
-	m_rgbColorBuffer(START_WIDTH,START_HEIGHT,TGAImage::RGB)
+	m_rgbColorBuffer(START_WIDTH,START_HEIGHT,TGAImage::RGB),
+    m_texture(START_WIDTH,START_HEIGHT,TGAImage::RGB)
 	{
 	    m_depthBuffer.resize(m_swWidth*m_swHeight);
 	    m_segmentationMaskBuffer.resize(m_swWidth*m_swHeight,-1);
@@ -827,3 +830,34 @@ void TinyRendererVisualShapeConverter::resetAll()
 	m_data->m_swRenderInstances.clear();
 }
 
+// Get shapeUniqueId from getVisualShapesData?
+void TinyRendererVisualShapeConverter::activateShapeTexture(int shapeUniqueId, int textureUniqueId)
+{
+    /*
+    // Use shapeUniqueId?
+    int objectArrayIndex = 0;
+    int objectIndex = 0;
+    TinyRendererObjectArray** visualArrayPtr = m_data->m_swRenderInstances.getAtIndex(objectArrayIndex);
+    TinyRendererObjectArray* visualArray = *visualArrayPtr;
+    unsigned char textureImage[3] = {10, 10, 255};
+    int textureWidth = 1000;
+    int textureHeight = 1000;
+    visualArray->m_renderObjects[objectIndex]->m_model->setDiffuseTextureFromData(textureImage,textureWidth,textureHeight);
+    */
+    
+    int objectArrayIndex = 0;
+    int objectIndex = 0;
+    for (int i=0;i<m_data->m_swRenderInstances.size();i++)
+    {
+        TinyRendererObjectArray** ptrptr = m_data->m_swRenderInstances.getAtIndex(i);
+        if (ptrptr && *ptrptr)
+        {
+            TinyRendererObjectArray* ptr = *ptrptr;
+            unsigned char textureImage[3] = {255, 10, 10};
+            int textureWidth = 1000;
+            int textureHeight = 1000;
+            ptr->m_renderObjects[objectIndex]->m_model->setDiffuseTextureFromData(textureImage,textureWidth,textureHeight);
+        }
+    }
+    
+}

examples/SharedMemory/TinyRendererVisualShapeConverter.h

@@ -37,6 +37,10 @@ struct TinyRendererVisualShapeConverter : public LinkVisualShapesConverter
     
 	void render();
 	void render(const float viewMat[16], const float projMat[16]);
+    
+    int registerTexture(unsigned char* texels, int width, int height);
+    void activateShapeTexture(int shapeUniqueId, int textureUniqueId);
+    void activateShapeTexture(int objectUniqueId, int jointIndex, int shapeIndex, int textureUniqueId);
 	
 };
 

examples/TinyRenderer/model.cpp

@@ -57,9 +57,12 @@ void Model::setDiffuseTextureFromData(unsigned char* textureImage,int textureWid
 		for (int j=0;j<textureHeight;j++)
 		{
 			TGAColor color;
-            color.bgra[0] = textureImage[(i+j*textureWidth)*3+0];
+            //color.bgra[0] = textureImage[(i+j*textureWidth)*3+0];
-            color.bgra[1] = textureImage[(i+j*textureWidth)*3+1];
+            //color.bgra[1] = textureImage[(i+j*textureWidth)*3+1];
-            color.bgra[2] = textureImage[(i+j*textureWidth)*3+2];
+            //color.bgra[2] = textureImage[(i+j*textureWidth)*3+2];
+            color.bgra[0] = textureImage[0];
+            color.bgra[1] = textureImage[1];
+            color.bgra[2] = textureImage[2];
 			color.bgra[3] = 255;
 
 			color.bytespp = 3;