PyBullet change API (since it was broken): pybullet_changeVisualShape with textureUniqueId ==-1 will clear the texture

b3InitUpdateVisualShape doesn't take textureUniqueId by default. new API b3UpdateVisualShapeTexture to change texture (-1 will clear texture)
PyBullet/BulletRobotics: allow to reset the textureUniqueId to -1, to clear a texture
PyBullet/BulletRobotics: save all texture handles

examples/OpenGLWindow/GLInstancingRenderer.cpp

@@ -1009,6 +1009,10 @@ void GLInstancingRenderer::replaceTexture(int shapeIndex, int textureId)
 		{
 			gfxObj->m_textureIndex = textureId;
 			gfxObj->m_flags |= eGfxHasTexture;
+		} else
+		{
+			gfxObj->m_textureIndex = -1;
+			gfxObj->m_flags &= ~eGfxHasTexture;
 		}
 	}
 }

examples/SharedMemory/PhysicsClientC_API.cpp

@@ -4008,7 +4008,7 @@ B3_SHARED_API int b3GetStatusTextureUniqueId(b3SharedMemoryStatusHandle statusHa
 	return uid;
 }
 
-B3_SHARED_API b3SharedMemoryCommandHandle b3InitUpdateVisualShape(b3PhysicsClientHandle physClient, int bodyUniqueId, int jointIndex, int shapeIndex, int textureUniqueId)
+B3_SHARED_API b3SharedMemoryCommandHandle b3InitUpdateVisualShape(b3PhysicsClientHandle physClient, int bodyUniqueId, int jointIndex, int shapeIndex)
 {
 	PhysicsClient* cl = (PhysicsClient*)physClient;
 	b3Assert(cl);
@@ -4019,16 +4019,27 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3InitUpdateVisualShape(b3PhysicsClien
 	command->m_updateVisualShapeDataArguments.m_bodyUniqueId = bodyUniqueId;
 	command->m_updateVisualShapeDataArguments.m_jointIndex = jointIndex;
 	command->m_updateVisualShapeDataArguments.m_shapeIndex = shapeIndex;
-	command->m_updateVisualShapeDataArguments.m_textureUniqueId = textureUniqueId;
+	command->m_updateVisualShapeDataArguments.m_textureUniqueId = -2;
 	command->m_updateFlags = 0;
-
-	if (textureUniqueId >= 0)
-	{
-		command->m_updateFlags |= CMD_UPDATE_VISUAL_SHAPE_TEXTURE;
-	}
 	return (b3SharedMemoryCommandHandle)command;
 }
 
+B3_SHARED_API void b3UpdateVisualShapeTexture(b3SharedMemoryCommandHandle commandHandle, int textureUniqueId)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
+	b3Assert(command);
+	b3Assert(command->m_type == CMD_UPDATE_VISUAL_SHAPE);
+
+	if (command->m_type == CMD_UPDATE_VISUAL_SHAPE)
+	{
+		if (textureUniqueId >= -1)
+		{
+			command->m_updateFlags |= CMD_UPDATE_VISUAL_SHAPE_TEXTURE;
+			command->m_updateVisualShapeDataArguments.m_textureUniqueId = textureUniqueId;
+		}
+	}
+}
+
 B3_SHARED_API void b3UpdateVisualShapeRGBAColor(b3SharedMemoryCommandHandle commandHandle, const double rgbaColor[4])
 {
 	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;

examples/SharedMemory/PhysicsClientC_API.h

@@ -308,7 +308,8 @@ extern "C"
 
 	B3_SHARED_API b3SharedMemoryCommandHandle b3CreateChangeTextureCommandInit(b3PhysicsClientHandle physClient, int textureUniqueId, int width, int height, const char* rgbPixels);
 
-	B3_SHARED_API b3SharedMemoryCommandHandle b3InitUpdateVisualShape(b3PhysicsClientHandle physClient, int bodyUniqueId, int jointIndex, int shapeIndex, int textureUniqueId);
+	B3_SHARED_API b3SharedMemoryCommandHandle b3InitUpdateVisualShape(b3PhysicsClientHandle physClient, int bodyUniqueId, int jointIndex, int shapeIndex);
+	B3_SHARED_API void b3UpdateVisualShapeTexture(b3SharedMemoryCommandHandle commandHandle, int textureUniqueId);
 	B3_SHARED_API void b3UpdateVisualShapeRGBAColor(b3SharedMemoryCommandHandle commandHandle, const double rgbaColor[/*4*/]);
 	B3_SHARED_API void b3UpdateVisualShapeSpecularColor(b3SharedMemoryCommandHandle commandHandle, const double specularColor[/*3*/]);
 

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -2755,7 +2755,7 @@ bool PhysicsServerCommandProcessor::processImportedObjects(const char* fileName,
 	SaveWorldObjectData sd;
 	sd.m_fileName = fileName;
 
-	int currentOpenGLTextureIndex = 0;
+	
 
 	for (int m = 0; m < u2b.getNumModels(); m++)
 	{
@@ -2971,38 +2971,38 @@ bool PhysicsServerCommandProcessor::processImportedObjects(const char* fileName,
 		}
 
 		{
-			int startShapeIndex = 0;
+			
 
 			if (m_data->m_pluginManager.getRenderInterface())
 			{
+				int currentOpenGLTextureIndex=0;
 				int totalNumVisualShapes = m_data->m_pluginManager.getRenderInterface()->getNumVisualShapes(bodyUniqueId);
-				//int totalBytesPerVisualShape = sizeof (b3VisualShapeData);
-				//int visualShapeStorage = bufferSizeInBytes / totalBytesPerVisualShape - 1;
-				b3VisualShapeData tmpShape;
 
-				int remain = totalNumVisualShapes - startShapeIndex;
+				for (int shapeIndex=0;shapeIndex<totalNumVisualShapes;shapeIndex++)
-				int shapeIndex = startShapeIndex;
-
-				int success = m_data->m_pluginManager.getRenderInterface()->getVisualShapesData(bodyUniqueId, shapeIndex, &tmpShape);
-				if (success)
 				{
-					if (tmpShape.m_tinyRendererTextureId >= 0)
+					b3VisualShapeData tmpShape;
+					int success = m_data->m_pluginManager.getRenderInterface()->getVisualShapesData(bodyUniqueId, shapeIndex, &tmpShape);
+					if (success)
 					{
-						int openglTextureUniqueId = -1;
+						if (tmpShape.m_tinyRendererTextureId >= 0)
-
-						//find companion opengl texture unique id and create a 'textureUid'
-						if (currentOpenGLTextureIndex < u2b.getNumAllocatedTextures())
 						{
-							openglTextureUniqueId = u2b.getAllocatedTexture(currentOpenGLTextureIndex);
+							int openglTextureUniqueId = -1;
-							currentOpenGLTextureIndex++;
-						}
 
-						int texHandle = m_data->m_textureHandles.allocHandle();
+							//find companion opengl texture unique id and create a 'textureUid'
-						InternalTextureHandle* texH = m_data->m_textureHandles.getHandle(texHandle);
+							if (currentOpenGLTextureIndex<u2b.getNumAllocatedTextures())
-						if (texH)
+							{
-						{
+								openglTextureUniqueId = u2b.getAllocatedTexture(currentOpenGLTextureIndex++);
-							texH->m_tinyRendererTextureId = tmpShape.m_tinyRendererTextureId;
+							}
-							texH->m_openglTextureId = openglTextureUniqueId;
+							//if (openglTextureUniqueId>=0)
+							{
+								int texHandle = m_data->m_textureHandles.allocHandle();
+								InternalTextureHandle* texH = m_data->m_textureHandles.getHandle(texHandle);
+								if (texH)
+								{
+									texH->m_tinyRendererTextureId = tmpShape.m_tinyRendererTextureId;
+									texH->m_openglTextureId = openglTextureUniqueId;
+								}
+							}
 						}
 					}
 				}
@@ -9779,9 +9779,12 @@ bool PhysicsServerCommandProcessor::processUpdateVisualShapeCommand(const struct
 
 	if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_TEXTURE)
 	{
-		texHandle = m_data->m_textureHandles.getHandle(clientCmd.m_updateVisualShapeDataArguments.m_textureUniqueId);
+		if (clientCmd.m_updateVisualShapeDataArguments.m_textureUniqueId>=0)
+		{
+			texHandle = m_data->m_textureHandles.getHandle(clientCmd.m_updateVisualShapeDataArguments.m_textureUniqueId);
+		}
 
-		if (clientCmd.m_updateVisualShapeDataArguments.m_textureUniqueId >= 0)
+		if (clientCmd.m_updateVisualShapeDataArguments.m_textureUniqueId >= -1)
 		{
 			if (texHandle)
 			{
@@ -9792,6 +9795,12 @@ bool PhysicsServerCommandProcessor::processUpdateVisualShapeCommand(const struct
 																					 clientCmd.m_updateVisualShapeDataArguments.m_shapeIndex,
 																					 texHandle->m_tinyRendererTextureId);
 				}
+			} else
+			{
+				m_data->m_pluginManager.getRenderInterface()->changeShapeTexture(clientCmd.m_updateVisualShapeDataArguments.m_bodyUniqueId,
+																					 clientCmd.m_updateVisualShapeDataArguments.m_jointIndex,
+																					 clientCmd.m_updateVisualShapeDataArguments.m_shapeIndex,
+																					 -1);
 			}
 		}
 	}
@@ -9812,10 +9821,13 @@ bool PhysicsServerCommandProcessor::processUpdateVisualShapeCommand(const struct
 						int graphicsIndex = bodyHandle->m_multiBody->getBaseCollider()->getUserIndex();
 						if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_TEXTURE)
 						{
+							int shapeIndex = m_data->m_guiHelper->getShapeIndexFromInstance(graphicsIndex);
 							if (texHandle)
 							{
-								int shapeIndex = m_data->m_guiHelper->getShapeIndexFromInstance(graphicsIndex);
 								m_data->m_guiHelper->replaceTexture(shapeIndex, texHandle->m_openglTextureId);
+							} else
+							{
+								m_data->m_guiHelper->replaceTexture(shapeIndex, -1);
 							}
 						}
 						if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_RGBA_COLOR)
@@ -9843,11 +9855,15 @@ bool PhysicsServerCommandProcessor::processUpdateVisualShapeCommand(const struct
 							int graphicsIndex = bodyHandle->m_multiBody->getLink(linkIndex).m_collider->getUserIndex();
 							if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_TEXTURE)
 							{
+								int shapeIndex = m_data->m_guiHelper->getShapeIndexFromInstance(graphicsIndex);
 								if (texHandle)
 								{
-									int shapeIndex = m_data->m_guiHelper->getShapeIndexFromInstance(graphicsIndex);
 									m_data->m_guiHelper->replaceTexture(shapeIndex, texHandle->m_openglTextureId);
 								}
+								else
+								{
+									m_data->m_guiHelper->replaceTexture(shapeIndex, -1);
+								}
 							}
 							if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_RGBA_COLOR)
 							{

examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp

@@ -190,7 +190,12 @@ bool b3RobotSimulatorClientAPI_NoDirect::changeVisualShape(const struct b3RobotS
 	b3SharedMemoryStatusHandle statusHandle;
 	int statusType;
 
-	commandHandle = b3InitUpdateVisualShape(m_data->m_physicsClientHandle, objectUniqueId, jointIndex, shapeIndex, textureUniqueId);
+	commandHandle = b3InitUpdateVisualShape(m_data->m_physicsClientHandle, objectUniqueId, jointIndex, shapeIndex);
+
+	if (textureUniqueId>=-1)
+	{
+		b3UpdateVisualShapeTexture(commandHandle, textureUniqueId);
+	}
 
 	if (args.m_hasSpecularColor)
 	{

examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h

@@ -75,7 +75,7 @@ struct b3RobotSimulatorChangeVisualShapeArgs
 		: m_objectUniqueId(-1),
 		  m_linkIndex(-1),
 		  m_shapeIndex(-1),
-		  m_textureUniqueId(-1),
+		  m_textureUniqueId(-2),
 		  m_rgbaColor(0, 0, 0, 1),
 		  m_hasRgbaColor(false),
 		  m_specularColor(1, 1, 1),

examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp

@@ -1159,7 +1159,7 @@ void TinyRendererVisualShapeConverter::resetAll()
 void TinyRendererVisualShapeConverter::changeShapeTexture(int objectUniqueId, int jointIndex, int shapeIndex, int textureUniqueId)
 {
 	btAssert(textureUniqueId < m_data->m_textures.size());
-	if (textureUniqueId >= 0 && textureUniqueId < m_data->m_textures.size())
+	if (textureUniqueId >= -1 && textureUniqueId < m_data->m_textures.size())
 	{
 		for (int n = 0; n < m_data->m_swRenderInstances.size(); n++)
 		{
@@ -1176,7 +1176,13 @@ void TinyRendererVisualShapeConverter::changeShapeTexture(int objectUniqueId, in
 
 					if ((shapeIndex < 0) || (shapeIndex == v))
 					{
-						renderObj->m_model->setDiffuseTextureFromData(m_data->m_textures[textureUniqueId].textureData1, m_data->m_textures[textureUniqueId].m_width, m_data->m_textures[textureUniqueId].m_height);
+						if (textureUniqueId>=0)
+						{
+							renderObj->m_model->setDiffuseTextureFromData(m_data->m_textures[textureUniqueId].textureData1, m_data->m_textures[textureUniqueId].m_width, m_data->m_textures[textureUniqueId].m_height);
+						} else
+						{
+							renderObj->m_model->setDiffuseTextureFromData(0,0,0);
+						}
 					}
 				}
 			}

examples/pybullet/pybullet.c

@@ -5584,7 +5584,7 @@ static PyObject* pybullet_changeVisualShape(PyObject* self, PyObject* args, PyOb
 	int objectUniqueId = -1;
 	int jointIndex = -1;
 	int shapeIndex = -1;
-	int textureUniqueId = -1;
+	int textureUniqueId = -2;
 	b3SharedMemoryCommandHandle commandHandle;
 	b3SharedMemoryStatusHandle statusHandle;
 	int statusType;
@@ -5606,7 +5606,12 @@ static PyObject* pybullet_changeVisualShape(PyObject* self, PyObject* args, PyOb
 	}
 
 	{
-		commandHandle = b3InitUpdateVisualShape(sm, objectUniqueId, jointIndex, shapeIndex, textureUniqueId);
+		commandHandle = b3InitUpdateVisualShape(sm, objectUniqueId, jointIndex, shapeIndex);
+
+		if (textureUniqueId>=-1)
+		{
+			b3UpdateVisualShapeTexture(commandHandle, textureUniqueId);
+		}
 
 		if (specularColorObj)
 		{