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/CommonInterfaces/CommonGUIHelperInterface.h

@@ -40,6 +40,7 @@ struct GUIHelperInterface
 	virtual void removeGraphicsInstance(int graphicsUid) {}
 	virtual void changeRGBAColor(int instanceUid, const double rgbaColor[4]) {}
 	virtual void changeSpecularColor(int instanceUid, const double specularColor[3]) {}
+	virtual void changeTexture(int textureUniqueId, const unsigned char* rgbTexels, int width, int height){}
 
 	virtual int getShapeIndexFromInstance(int instanceUid){return -1;}	
 	virtual void replaceTexture(int shapeIndex, int textureUid){}

examples/ExampleBrowser/OpenGLGuiHelper.cpp

@@ -292,6 +292,12 @@ int	OpenGLGuiHelper::registerTexture(const unsigned char* texels, int width, int
 	return textureId;
 }
 
+void OpenGLGuiHelper::changeTexture(int textureUniqueId, const unsigned char* texels, int width, int height)
+{
+	bool flipPixelsY = true;
+	m_data->m_glApp->m_renderer->updateTexture(textureUniqueId, texels,flipPixelsY);
+}
+
 
 int OpenGLGuiHelper::registerGraphicsShape(const float* vertices, int numvertices, const int* indices, int numIndices,int primitiveType, int textureId)
 {

examples/ExampleBrowser/OpenGLGuiHelper.h

@@ -28,6 +28,7 @@ struct OpenGLGuiHelper : public GUIHelperInterface
 	virtual void removeGraphicsInstance(int graphicsUid);
 	virtual void changeRGBAColor(int instanceUid, const double rgbaColor[4]);
 	virtual void changeSpecularColor(int instanceUid, const double specularColor[3]);
+	virtual void changeTexture(int textureUniqueId, const unsigned char* rgbTexels, int width, int height);
 
 	virtual int getShapeIndexFromInstance(int instanceUid);	
 	virtual void replaceTexture(int shapeIndex, int textureUid);

examples/OpenGLWindow/GLInstancingRenderer.cpp

@@ -117,13 +117,14 @@ GLint lineWidthRange[2]={1,1};
 
 enum
 {
-	eGfxTransparency=1
+	eGfxTransparency=1,
 };
+
 struct b3GraphicsInstance
 {
 	GLuint               m_cube_vao;
 	GLuint               m_index_vbo;
-	GLuint				m_texturehandle;
+	GLuint				m_textureIndex;
 
 	int m_numIndices;
 	int m_numVertices;
@@ -141,7 +142,7 @@ struct b3GraphicsInstance
 	b3GraphicsInstance()
 	:m_cube_vao(-1),
 		m_index_vbo(-1),
-		m_texturehandle(0),
+		m_textureIndex(-1),
 		m_numIndices(-1),
 		m_numVertices(-1),
 		m_numGraphicsInstances(0),
@@ -188,6 +189,7 @@ struct InternalTextureHandle
     GLuint  m_glTexture;
     int m_width;
     int m_height;
+	int m_enableFiltering;
 };
 
 struct b3PublicGraphicsInstanceData
@@ -954,7 +956,7 @@ int	GLInstancingRenderer::registerTexture(const unsigned char* texels, int width
     h.m_glTexture = textureHandle;
     h.m_width = width;
     h.m_height = height;
-
+	h.m_enableFiltering = true;
 	m_data->m_textureHandles.push_back(h);
 	if (texels)
 	{
@@ -971,7 +973,8 @@ void    GLInstancingRenderer::replaceTexture(int shapeIndex, int textureId)
 		b3GraphicsInstance* gfxObj = m_graphicsInstances[shapeIndex];
 		if (textureId>=0)
 		{
-			gfxObj->m_texturehandle = m_data->m_textureHandles[textureId].m_glTexture;
+			gfxObj->m_textureIndex = textureId;
+
 		}
 	}
 }
@@ -980,9 +983,6 @@ void    GLInstancingRenderer::updateTexture(int textureIndex, const unsigned cha
 {
     if (textureIndex>=0)
     {
-		
-		
-
         glActiveTexture(GL_TEXTURE0);
         b3Assert(glGetError() ==GL_NO_ERROR);
         InternalTextureHandle& h = m_data->m_textureHandles[textureIndex];
@@ -1011,7 +1011,10 @@ void    GLInstancingRenderer::updateTexture(int textureIndex, const unsigned cha
 			glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, h.m_width,h.m_height,0,GL_RGB,GL_UNSIGNED_BYTE,&texels[0]);
 		}
         b3Assert(glGetError() ==GL_NO_ERROR);
-        glGenerateMipmap(GL_TEXTURE_2D);
+		if (h.m_enableFiltering)
+		{
+	        glGenerateMipmap(GL_TEXTURE_2D);
+		}
         b3Assert(glGetError() ==GL_NO_ERROR);
     }
 }
@@ -1048,7 +1051,7 @@ int GLInstancingRenderer::registerShape(const float* vertices, int numvertices,
 
 	if (textureId>=0)
 	{
-		gfxObj->m_texturehandle = m_data->m_textureHandles[textureId].m_glTexture;
+		gfxObj->m_textureIndex = textureId;
 	}
 
 	gfxObj->m_primitiveType = primitiveType;
@@ -2201,10 +2204,26 @@ b3Assert(glGetError() ==GL_NO_ERROR);
 			{
 				glActiveTexture(GL_TEXTURE0);
 				GLuint curBindTexture = 0;
-				if (gfxObj->m_texturehandle)
+				if (gfxObj->m_textureIndex>=0)
-					curBindTexture = gfxObj->m_texturehandle;
+				{
+					curBindTexture = m_data->m_textureHandles[gfxObj->m_textureIndex].m_glTexture;
+
+					glTexParameteri(GL_TEXTURE_2D,GL_TEXTURE_BASE_LEVEL,0);
+
+					if (m_data->m_textureHandles[gfxObj->m_textureIndex].m_enableFiltering)
+					{
+						glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
+						glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
+					} else
+					{
+						glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
+						glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
+					}
+				}
 				else
+				{
 					curBindTexture = m_data->m_defaultTexturehandle;
+				}
 
 	//disable lazy evaluation, it just leads to bugs
 				//if (lastBindTexture != curBindTexture)

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
 };

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)
+

examples/pybullet/pybullet.c

@@ -1433,7 +1433,7 @@ static PyObject* pybullet_setJointMotorControlArray(PyObject* self, PyObject* ar
 			int i;
 			for (i = 0; i < numControlledDofs; i++)
 			{
-				int jointIndex = pybullet_internalGetFloatFromSequence(jointIndicesSeq, i);
+				int jointIndex = pybullet_internalGetIntFromSequence(jointIndicesSeq, i);
 				if ((jointIndex >= numJoints) || (jointIndex < 0))
 				{
 					Py_DECREF(jointIndicesSeq);
@@ -4551,6 +4551,75 @@ static PyObject* pybullet_changeVisualShape(PyObject* self, PyObject* args, PyOb
 	return Py_None;
 }
 
+
+static PyObject* pybullet_changeTexture(PyObject* self, PyObject* args, PyObject* keywds)
+{
+	b3SharedMemoryCommandHandle commandHandle = 0;
+	b3SharedMemoryStatusHandle statusHandle=0;
+	int statusType = -1;
+	int textureUniqueId = -1;
+	int physicsClientId = 0;
+	int width=-1;
+	int height=-1;
+	
+	PyObject* pixelsObj = 0;
+
+	b3PhysicsClientHandle sm = 0;
+	static char* kwlist[] = {"textureUniqueId", "pixels", "width", "height", "physicsClientId", NULL};
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "iOii|i", kwlist, &textureUniqueId, &pixelsObj, &width, &height, &physicsClientId))
+	{
+		return NULL;
+	}
+	sm = getPhysicsClient(physicsClientId);
+	if (sm == 0)
+	{
+		PyErr_SetString(SpamError, "Not connected to physics server.");
+		return NULL;
+	}
+
+	if (textureUniqueId>=0 && width>=0 && height>=0 && pixelsObj)
+	{
+		PyObject* seqPixels = PySequence_Fast(pixelsObj, "expected a sequence");
+		PyObject* item;
+		int i;
+		int numPixels = width*height;
+		unsigned char* pixelBuffer = (char*) malloc (numPixels*3);
+		if (PyList_Check(seqPixels))
+		{
+			for (i=0;i<numPixels*3;i++)
+			{
+				item = PyList_GET_ITEM(seqPixels, i);
+				pixelBuffer[i] = PyLong_AsLong(item);
+			}
+		} else
+		{
+			for (i=0;i<numPixels*3;i++)
+			{
+				item = PyTuple_GET_ITEM(seqPixels, i);
+				pixelBuffer[i] = PyLong_AsLong(item);
+			}
+		}		
+
+		commandHandle = b3CreateChangeTextureCommandInit(sm,textureUniqueId, width,height,pixelBuffer);
+		free(pixelBuffer);
+		statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
+		statusType = b3GetStatusType(statusHandle);
+		if (statusType == CMD_CLIENT_COMMAND_COMPLETED)
+		{
+			Py_INCREF(Py_None);
+			return Py_None;
+		} else
+		{
+			PyErr_SetString(SpamError, "Error processing changeTexture.");
+			return NULL;
+		}
+	}
+
+	PyErr_SetString(SpamError, "Error: invalid arguments in changeTexture.");
+	return NULL;
+}
+
+
 static PyObject* pybullet_loadTexture(PyObject* self, PyObject* args, PyObject* keywds)
 {
 	const char* filename = 0;
@@ -7029,6 +7098,9 @@ static PyMethodDef SpamMethods[] = {
 	{"loadTexture", (PyCFunction)pybullet_loadTexture, METH_VARARGS | METH_KEYWORDS,
 	 "Load texture file."},
 
+	{"changeTexture", (PyCFunction)pybullet_changeTexture, METH_VARARGS | METH_KEYWORDS,
+	 "Change a texture file."},
+
 	{"getQuaternionFromEuler", pybullet_getQuaternionFromEuler, METH_VARARGS,
 	 "Convert Euler [roll, pitch, yaw] as in URDF/SDF convention, to "
 	 "quaternion [x,y,z,w]"},