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/pybullet/examples/changeTexture.py

@@ -0,0 +1,43 @@
+import pybullet as p
+import time
+p.connect(p.GUI)
+planeUidA = p.loadURDF("plane_transparent.urdf",[0,0,0])
+planeUid = p.loadURDF("plane_transparent.urdf",[0,0,-1])
+
+texUid = p.loadTexture("tex256.png")
+
+p.changeVisualShape(planeUidA,-1,rgbaColor=[1,1,1,0.5])
+p.changeVisualShape(planeUid,-1,rgbaColor=[1,1,1,0.5])
+p.changeVisualShape(planeUid,-1, textureUniqueId = texUid)
+
+width = 256
+height = 256
+pixels = [255]*width*height*3
+colorR = 0
+colorG = 0
+colorB = 0
+
+
+#p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
+#p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
+
+blue=0
+logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "renderbench.json")
+for i in range (100000):
+	p.stepSimulation()
+	for i in range (width):
+		for j in range(height):
+			pixels[(i+j*width)*3+0]=i
+			pixels[(i+j*width)*3+1]=(j+blue)%256
+			pixels[(i+j*width)*3+2]=blue
+	blue=blue+1
+	p.changeTexture(texUid, pixels,width,height)
+	start = time.time()
+	p.getCameraImage(300,300,renderer=p.ER_BULLET_HARDWARE_OPENGL)
+	end = time.time()
+	print("rendering duraction")
+	print(end-start)
+p.stopStateLogging(logId)
+#p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
+#p.configureDebugVisualizer(p.COV_ENABLE_GUI,1)
+