implement pybullet.changeTexture. For now, the width/height has to match the target texture unique id, otherwise crashes may happen (a check for width/height match will be added)

See also examples\pybullet\examples\changeTexture.py

examples/SharedMemory/PhysicsClientC_API.cpp

@@ -2918,6 +2918,25 @@ void b3GetVisualShapeInformation(b3PhysicsClientHandle physClient, struct b3Visu
 	}
 }
 
+b3SharedMemoryCommandHandle b3CreateChangeTextureCommandInit(b3PhysicsClientHandle physClient, int textureUniqueId, int width, int height, const char* rgbPixels)
+{
+    PhysicsClient* cl = (PhysicsClient* ) physClient;
+    b3Assert(cl);
+    b3Assert(cl->canSubmitCommand());
+    struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
+    b3Assert(command);
+    command->m_type = CMD_CHANGE_TEXTURE;
+
+	command->m_changeTextureArgs.m_textureUniqueId = textureUniqueId;
+	command->m_changeTextureArgs.m_width = width;
+	command->m_changeTextureArgs.m_height = height;
+	int numPixels = width*height;
+	cl->uploadBulletFileToSharedMemory(rgbPixels,numPixels*3);
+	command->m_updateFlags = 0;
+    return (b3SharedMemoryCommandHandle) command;
+}
+
+
 b3SharedMemoryCommandHandle b3InitLoadTexture(b3PhysicsClientHandle physClient, const char* filename)
 {
     PhysicsClient* cl = (PhysicsClient* ) physClient;

examples/SharedMemory/PhysicsClientC_API.h

@@ -219,6 +219,7 @@ void b3GetVisualShapeInformation(b3PhysicsClientHandle physClient, struct b3Visu
 b3SharedMemoryCommandHandle b3InitLoadTexture(b3PhysicsClientHandle physClient, const char* filename);
 int b3GetStatusTextureUniqueId(b3SharedMemoryStatusHandle statusHandle);
 
+b3SharedMemoryCommandHandle b3CreateChangeTextureCommandInit(b3PhysicsClientHandle physClient, int textureUniqueId, int width, int height, const char* rgbPixels);
 
 b3SharedMemoryCommandHandle b3InitUpdateVisualShape(b3PhysicsClientHandle physClient, int bodyUniqueId, int jointIndex, int shapeIndex, int textureUniqueId);
 void b3UpdateVisualShapeRGBAColor(b3SharedMemoryCommandHandle commandHandle, double rgbaColor[4]);

examples/SharedMemory/PhysicsClientSharedMemory.cpp

@@ -1368,7 +1368,9 @@ void PhysicsClientSharedMemory::uploadBulletFileToSharedMemory(const char* data,
                   SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
     } else {
         for (int i = 0; i < len; i++) {
-            m_data->m_testBlock1->m_bulletStreamDataClientToServer[i] = data[i];
+            //m_data->m_testBlock1->m_bulletStreamDataClientToServer[i] = data[i];
+			m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor[i] = data[i];
+
         }
     }
 }

examples/SharedMemory/PhysicsDirect.cpp

@@ -1095,6 +1095,14 @@ void PhysicsDirect::setSharedMemoryKey(int key)
 
 void PhysicsDirect::uploadBulletFileToSharedMemory(const char* data, int len)
 {
+	if (len>SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE)
+	{
+		len = SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE;
+	}
+	for (int i=0;i<len;i++)
+	{
+		m_data->m_bulletStreamDataServerToClient[i] = data[i];
+	}
 	//m_data->m_physicsClient->uploadBulletFileToSharedMemory(data,len);
 }
 

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -6863,6 +6863,24 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 
                     break;
                 }
+
+				case CMD_CHANGE_TEXTURE:
+				{
+					SharedMemoryStatus& serverCmd = serverStatusOut;
+					serverCmd.m_type = CMD_CHANGE_TEXTURE_COMMAND_FAILED;
+					
+					InternalTextureHandle* texH = m_data->m_textureHandles.getHandle(clientCmd.m_changeTextureArgs.m_textureUniqueId);
+					if(texH)
+					{
+						int gltex = texH->m_openglTextureId;
+						m_data->m_guiHelper->changeTexture(gltex,
+							(const unsigned char*)bufferServerToClient, clientCmd.m_changeTextureArgs.m_width,clientCmd.m_changeTextureArgs.m_height);
+
+						serverCmd.m_type = CMD_CLIENT_COMMAND_COMPLETED;
+					}
+                    hasStatus = true;
+                    break;
+				}
 				case CMD_LOAD_TEXTURE:
 				{
 					BT_PROFILE("CMD_LOAD_TEXTURE");

examples/SharedMemory/PhysicsServerExample.cpp

@@ -133,6 +133,7 @@ enum MultiThreadedGUIHelperCommunicationEnums
 	eGUIHelperSetVisualizerFlag,
 	eGUIHelperChangeGraphicsInstanceTextureId,
 	eGUIHelperGetShapeIndexFromInstance,
+	eGUIHelperChangeTexture,
 };
 
 
@@ -958,6 +959,23 @@ public:
 		workerThreadWait();   
 	}
 
+
+	int m_changeTextureUniqueId;
+	const unsigned char* m_changeTextureRgbTexels;
+	int m_changeTextureWidth;
+	int m_changeTextureHeight;
+
+	virtual void changeTexture(int textureUniqueId, const unsigned char* rgbTexels, int width, int height)
+	{
+		m_changeTextureUniqueId = textureUniqueId;
+		m_changeTextureRgbTexels = rgbTexels;
+		m_changeTextureWidth = width;
+		m_changeTextureHeight = height;
+		m_cs->lock();
+		m_cs->setSharedParam(1,eGUIHelperChangeTexture);
+		workerThreadWait();   
+	}
+
 	double m_rgbaColor[4];
 	int m_graphicsInstanceChangeColor;
 	virtual void changeRGBAColor(int instanceUid, const double rgbaColor[4])
@@ -1955,6 +1973,16 @@ void	PhysicsServerExample::updateGraphics()
 	}
 
 	
+	case eGUIHelperChangeTexture:
+	{
+		m_multiThreadedHelper->m_childGuiHelper->changeTexture(
+			m_multiThreadedHelper->m_changeTextureUniqueId,
+			m_multiThreadedHelper->m_changeTextureRgbTexels,
+			m_multiThreadedHelper->m_changeTextureWidth,
+			m_multiThreadedHelper->m_changeTextureHeight);
+		m_multiThreadedHelper->mainThreadRelease();
+		break;
+	}
 
 	case eGUIHelperChangeGraphicsInstanceRGBAColor:
 	{

examples/SharedMemory/SharedMemoryCommands.h

@@ -898,6 +898,12 @@ struct b3CreateMultiBodyResultArgs
 	int m_bodyUniqueId;
 };
 
+struct b3ChangeTextureArgs
+{
+	int m_textureUniqueId;
+	int m_width;
+	int m_height;
+};
 
 struct SharedMemoryCommand
 {
@@ -950,6 +956,7 @@ struct SharedMemoryCommand
 		struct b3CreateVisualShapeArgs m_createVisualShapeArgs;
 		struct b3CreateMultiBodyArgs m_createMultiBodyArgs;
 		struct b3RequestCollisionInfoArgs m_requestCollisionInfoArgs;
+		struct b3ChangeTextureArgs m_changeTextureArgs;
     };
 };
 

examples/SharedMemory/SharedMemoryPublic.h

@@ -67,6 +67,7 @@ enum EnumSharedMemoryClientCommand
 	CMD_CREATE_MULTI_BODY,
 	CMD_REQUEST_COLLISION_INFO,
 	CMD_REQUEST_MOUSE_EVENTS_DATA,
+	CMD_CHANGE_TEXTURE,
     //don't go beyond this command!
     CMD_MAX_CLIENT_COMMANDS,
     
@@ -161,6 +162,7 @@ enum EnumSharedMemoryServerStatus
 		CMD_REQUEST_COLLISION_INFO_COMPLETED,
 		CMD_REQUEST_COLLISION_INFO_FAILED,
 		CMD_REQUEST_MOUSE_EVENTS_DATA_COMPLETED,
+		CMD_CHANGE_TEXTURE_COMMAND_FAILED,
         //don't go beyond 'CMD_MAX_SERVER_COMMANDS!
         CMD_MAX_SERVER_COMMANDS
 };