Improve debug text/line rendering, can be use to draw frames and text in local coordinate of an object / link.

example:
kuka = p.loadURDF("kuka_iiwa/model.urdf")
p.getNumJoints(kuka)
pybullet.addUserDebugLine([0,0,0],[0,0,0.1],[0,0,1],trackObjectUniqueId=2,trackLinkIndex=6)
pybullet.addUserDebugText("tip", [0,0,0.1],textColorRGB=[1,0,0],trackObjectUniqueId=2,trackLinkIndex=6)
Also allow to render text using a given orientation (instead of pointing to the camera), example:
pybullet.addUserDebugText("tip", [0,0,0.1],textColorRGB=[1,0,0],textOrientation=[0,0,0,1], trackObjectUniqueId=2,trackLinkIndex=6)
Add drawTexturedTriangleMesh, for drawing 3d text.
Expose readSingleInstanceTransformToCPU, to extract position/orientation from graphics index.
updateTexture: allow to not flip texels around up axis

examples/SharedMemory/SharedMemoryPublic.h

@@ -4,7 +4,8 @@
 #define SHARED_MEMORY_KEY 12347
 ///increase the SHARED_MEMORY_MAGIC_NUMBER whenever incompatible changes are made in the structures
 ///my convention is year/month/day/rev
-#define SHARED_MEMORY_MAGIC_NUMBER 201703024
+#define SHARED_MEMORY_MAGIC_NUMBER 201705023
+//#define SHARED_MEMORY_MAGIC_NUMBER 201703024
 
 enum EnumSharedMemoryClientCommand
 {
@@ -507,6 +508,13 @@ enum b3ConfigureDebugVisualizerEnum
 	COV_ENABLE_SYNC_RENDERING_INTERNAL,
 };
 
+enum b3AddUserDebugItemEnum
+{
+	DEB_DEBUG_TEXT_USE_ORIENTATION=1,
+	DEB_DEBUG_TEXT_USE_TRUE_TYPE_FONTS=2,
+	DEB_DEBUG_TEXT_HAS_TRACKING_OBJECT=4,
+};
+
 enum eCONNECT_METHOD {
   eCONNECT_GUI = 1,
   eCONNECT_DIRECT = 2,