expose the changeVisualShape RGBA color for TinyRenderer, OpenGL3 renderer.

examples/CommonInterfaces/CommonGUIHelperInterface.h

@@ -38,6 +38,7 @@ struct GUIHelperInterface
 	virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling) =0;
     virtual void removeAllGraphicsInstances()=0;
 	virtual void removeGraphicsInstance(int graphicsUid) {}
+	virtual void changeRGBAColor(int instanceUid, const double rgbaColor[4]) {}
 	
 	virtual Common2dCanvasInterface* get2dCanvasInterface()=0;
 	
@@ -125,6 +126,7 @@ struct DummyGUIHelper : public GUIHelperInterface
 	virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling) {return -1;}
     virtual void removeAllGraphicsInstances(){}
 	virtual void removeGraphicsInstance(int graphicsUid){}
+	virtual void changeRGBAColor(int instanceUid, const double rgbaColor[4]) {}
 
 	virtual Common2dCanvasInterface* get2dCanvasInterface()
 	{

examples/CommonInterfaces/CommonRenderInterface.h

@@ -55,10 +55,10 @@ struct CommonRenderInterface
     
 	virtual void writeSingleInstanceTransformToCPU(const float* position, const float* orientation, int srcIndex)=0;
 	virtual void writeSingleInstanceTransformToCPU(const double* position, const double* orientation, int srcIndex)=0;
-	virtual void writeSingleInstanceColorToCPU(float* color, int srcIndex)=0;
+	virtual void writeSingleInstanceColorToCPU(const float* color, int srcIndex)=0;
-	virtual void writeSingleInstanceColorToCPU(double* color, int srcIndex)=0;
+	virtual void writeSingleInstanceColorToCPU(const double* color, int srcIndex)=0;
-	virtual void writeSingleInstanceScaleToCPU(float* scale, int srcIndex)=0;
+	virtual void writeSingleInstanceScaleToCPU(const float* scale, int srcIndex)=0;
-	virtual void writeSingleInstanceScaleToCPU(double* scale, int srcIndex)=0;
+	virtual void writeSingleInstanceScaleToCPU(const double* scale, int srcIndex)=0;
     
     virtual int getTotalNumInstances() const = 0;
     

examples/ExampleBrowser/OpenGLGuiHelper.cpp

@@ -314,6 +314,14 @@ void OpenGLGuiHelper::removeGraphicsInstance(int graphicsUid)
 	};
 }
 
+void OpenGLGuiHelper::changeRGBAColor(int instanceUid, const double rgbaColor[4])
+{
+	if (instanceUid>=0)
+	{
+		m_data->m_glApp->m_renderer->writeSingleInstanceColorToCPU(rgbaColor,instanceUid);
+	};
+}
+
 int OpenGLGuiHelper::createCheckeredTexture(int red,int green, int blue)
 {
 	int texWidth=1024;

examples/ExampleBrowser/OpenGLGuiHelper.h

@@ -26,6 +26,7 @@ struct OpenGLGuiHelper : public GUIHelperInterface
 	virtual int registerGraphicsInstance(int shapeIndex, const float* position, const float* quaternion, const float* color, const float* scaling);
 	virtual void removeAllGraphicsInstances();
 	virtual void removeGraphicsInstance(int graphicsUid);
+	virtual void changeRGBAColor(int instanceUid, const double rgbaColor[4]);
 	
 	virtual void createCollisionShapeGraphicsObject(btCollisionShape* collisionShape);
 

examples/OpenGLWindow/GLInstancingRenderer.cpp

@@ -375,7 +375,7 @@ void GLInstancingRenderer::readSingleInstanceTransformFromCPU(int bodyUniqueId,
 	orientation[2] = m_data->m_instance_quaternion_ptr[srcIndex*4+2];
 	orientation[3] = m_data->m_instance_quaternion_ptr[srcIndex*4+3];
 }
-void GLInstancingRenderer::writeSingleInstanceColorToCPU(double* color, int bodyUniqueId)
+void GLInstancingRenderer::writeSingleInstanceColorToCPU(const double* color, int bodyUniqueId)
 {
 	b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(bodyUniqueId);
 	b3Assert(pg);
@@ -387,7 +387,7 @@ void GLInstancingRenderer::writeSingleInstanceColorToCPU(double* color, int body
 	m_data->m_instance_colors_ptr[srcIndex*4+3]=float(color[3]);
 }
 
-void GLInstancingRenderer::writeSingleInstanceColorToCPU(float* color, int bodyUniqueId)
+void GLInstancingRenderer::writeSingleInstanceColorToCPU(const float* color, int bodyUniqueId)
 {
 	b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(bodyUniqueId);
 	b3Assert(pg);
@@ -399,7 +399,7 @@ void GLInstancingRenderer::writeSingleInstanceColorToCPU(float* color, int bodyU
 	m_data->m_instance_colors_ptr[srcIndex*4+3]=color[3];
 }
 
-void GLInstancingRenderer::writeSingleInstanceScaleToCPU(float* scale, int bodyUniqueId)
+void GLInstancingRenderer::writeSingleInstanceScaleToCPU(const float* scale, int bodyUniqueId)
 {
 	b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(bodyUniqueId);
 	b3Assert(pg);
@@ -410,7 +410,7 @@ void GLInstancingRenderer::writeSingleInstanceScaleToCPU(float* scale, int bodyU
 	m_data->m_instance_scale_ptr[srcIndex*3+2]=scale[2];
 }
 
-void GLInstancingRenderer::writeSingleInstanceScaleToCPU(double* scale, int bodyUniqueId)
+void GLInstancingRenderer::writeSingleInstanceScaleToCPU(const double* scale, int bodyUniqueId)
 {
 	b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(bodyUniqueId);
 	b3Assert(pg);

examples/OpenGLWindow/GLInstancingRenderer.h

@@ -98,11 +98,11 @@ public:
 
 	virtual void writeSingleInstanceTransformToGPU(float* position, float* orientation, int srcIndex);
 
-	virtual void writeSingleInstanceColorToCPU(float* color, int srcIndex);
+	virtual void writeSingleInstanceColorToCPU(const float* color, int srcIndex);
-	virtual void writeSingleInstanceColorToCPU(double* color, int srcIndex);
+	virtual void writeSingleInstanceColorToCPU(const double* color, int srcIndex);
 
-	virtual void writeSingleInstanceScaleToCPU(float* scale, int srcIndex);
+	virtual void writeSingleInstanceScaleToCPU(const float* scale, int srcIndex);
-	virtual void writeSingleInstanceScaleToCPU(double* scale, int srcIndex);
+	virtual void writeSingleInstanceScaleToCPU(const double* scale, int srcIndex);
 
 	
 	virtual struct	GLInstanceRendererInternalData* getInternalData();

examples/OpenGLWindow/SimpleOpenGL2Renderer.cpp

@@ -139,18 +139,18 @@ void SimpleOpenGL2Renderer::removeGraphicsInstance(int instanceUid)
 	m_data->m_graphicsInstancesPool.freeHandle(instanceUid);
 }
 
-void SimpleOpenGL2Renderer::writeSingleInstanceColorToCPU(float* color, int srcIndex)
+void SimpleOpenGL2Renderer::writeSingleInstanceColorToCPU(const float* color, int srcIndex)
 {
 }
-void SimpleOpenGL2Renderer::writeSingleInstanceColorToCPU(double* color, int srcIndex)
+void SimpleOpenGL2Renderer::writeSingleInstanceColorToCPU(const double* color, int srcIndex)
 {
     
 }
 
-void SimpleOpenGL2Renderer::writeSingleInstanceScaleToCPU(float* scale, int srcIndex)
+void SimpleOpenGL2Renderer::writeSingleInstanceScaleToCPU(const float* scale, int srcIndex)
 {
 }
-void SimpleOpenGL2Renderer::writeSingleInstanceScaleToCPU(double* scale, int srcIndex)
+void SimpleOpenGL2Renderer::writeSingleInstanceScaleToCPU(const double* scale, int srcIndex)
 {
 }
 

examples/OpenGLWindow/SimpleOpenGL2Renderer.h

@@ -34,10 +34,10 @@ public:
     virtual void removeAllInstances();
     virtual void removeGraphicsInstance(int instanceUid);
     
-    virtual void writeSingleInstanceColorToCPU(float* color, int srcIndex);
+    virtual void writeSingleInstanceColorToCPU(const float* color, int srcIndex);
-    virtual void writeSingleInstanceColorToCPU(double* color, int srcIndex);
+    virtual void writeSingleInstanceColorToCPU(const double* color, int srcIndex);
-	virtual void writeSingleInstanceScaleToCPU(float* scale, int srcIndex);
+	virtual void writeSingleInstanceScaleToCPU(const float* scale, int srcIndex);
-    virtual void writeSingleInstanceScaleToCPU(double* scale, int srcIndex);
+    virtual void writeSingleInstanceScaleToCPU(const double* scale, int srcIndex);
     virtual void	getCameraViewMatrix(float viewMat[16]) const;
     virtual void	getCameraProjectionMatrix(float projMat[16]) const;
 

examples/SharedMemory/PhysicsClientC_API.cpp

@@ -2320,9 +2320,30 @@ b3SharedMemoryCommandHandle b3InitUpdateVisualShape(b3PhysicsClientHandle physCl
     command->m_updateVisualShapeDataArguments.m_shapeIndex = shapeIndex;
     command->m_updateVisualShapeDataArguments.m_textureUniqueId = textureUniqueId;
     command->m_updateFlags = 0;
+
+	if (textureUniqueId>=0)
+	{
+		command->m_updateFlags |= CMD_UPDATE_VISUAL_SHAPE_TEXTURE;
+	}
     return (b3SharedMemoryCommandHandle) command;
 }
 
+void b3UpdateVisualShapeRGBAColor(b3SharedMemoryCommandHandle commandHandle, double rgbaColor[4])
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+	b3Assert(command);
+	b3Assert(command->m_type == CMD_UPDATE_VISUAL_SHAPE);
+
+	if (command->m_type == CMD_UPDATE_VISUAL_SHAPE)
+	{
+		command->m_updateVisualShapeDataArguments.m_rgbaColor[0] = rgbaColor[0];
+		command->m_updateVisualShapeDataArguments.m_rgbaColor[1] = rgbaColor[1];
+		command->m_updateVisualShapeDataArguments.m_rgbaColor[2] = rgbaColor[2];
+		command->m_updateVisualShapeDataArguments.m_rgbaColor[3] = rgbaColor[3];
+		command->m_updateFlags |= CMD_UPDATE_VISUAL_SHAPE_RGBA_COLOR;
+	}
+}
+
 b3SharedMemoryCommandHandle b3ApplyExternalForceCommandInit(b3PhysicsClientHandle physClient)
 {
     PhysicsClient* cl = (PhysicsClient* ) physClient;

examples/SharedMemory/PhysicsClientC_API.h

@@ -198,6 +198,7 @@ void b3GetVisualShapeInformation(b3PhysicsClientHandle physClient, struct b3Visu
 
 b3SharedMemoryCommandHandle b3InitLoadTexture(b3PhysicsClientHandle physClient, const char* filename);
 b3SharedMemoryCommandHandle b3InitUpdateVisualShape(b3PhysicsClientHandle physClient, int bodyUniqueId, int jointIndex, int shapeIndex, int textureUniqueId);
+void b3UpdateVisualShapeRGBAColor(b3SharedMemoryCommandHandle commandHandle, double rgbaColor[4]);
 
 b3SharedMemoryCommandHandle	b3InitPhysicsParamCommand(b3PhysicsClientHandle physClient);
 int	b3PhysicsParamSetGravity(b3SharedMemoryCommandHandle commandHandle, double gravx,double gravy, double gravz);

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -5585,7 +5585,50 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                     SharedMemoryStatus& serverCmd = serverStatusOut;
                     serverCmd.m_type = CMD_VISUAL_SHAPE_UPDATE_FAILED;
                     
+					if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_TEXTURE) 
+					{
+						if (clientCmd.m_updateVisualShapeDataArguments.m_textureUniqueId>=0)
+						{
 		                    m_data->m_visualConverter.activateShapeTexture(clientCmd.m_updateVisualShapeDataArguments.m_bodyUniqueId, clientCmd.m_updateVisualShapeDataArguments.m_jointIndex, clientCmd.m_updateVisualShapeDataArguments.m_shapeIndex, clientCmd.m_updateVisualShapeDataArguments.m_textureUniqueId);
+						}
+					}                    
+   
+					if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_RGBA_COLOR) 
+					{
+						int bodyUniqueId = clientCmd.m_updateVisualShapeDataArguments.m_bodyUniqueId;
+						int linkIndex = clientCmd.m_updateVisualShapeDataArguments.m_jointIndex;
+
+						InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(bodyUniqueId);
+						if (bodyHandle)
+						{
+							if (bodyHandle->m_multiBody)
+							{
+								if (linkIndex==-1)
+								{
+									if (bodyHandle->m_multiBody->getBaseCollider())
+									{
+										//m_data->m_visualConverter.changeRGBAColor(...)
+										int graphicsIndex = bodyHandle->m_multiBody->getBaseCollider()->getUserIndex();
+										m_data->m_guiHelper->changeRGBAColor(graphicsIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
+									}
+								} else
+								{
+									if (linkIndex<bodyHandle->m_multiBody->getNumLinks())
+									{
+										if (bodyHandle->m_multiBody->getLink(linkIndex).m_collider)
+										{
+											//m_data->m_visualConverter.changeRGBAColor(...)
+											int graphicsIndex = bodyHandle->m_multiBody->getLink(linkIndex).m_collider->getUserIndex();
+											m_data->m_guiHelper->changeRGBAColor(graphicsIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
+										}
+									}
+								}
+							} else
+							{
+								//todo: change color for rigid body
+							}
+						}
+					}
 	
 					serverCmd.m_type = CMD_VISUAL_SHAPE_UPDATE_COMPLETED;
                     hasStatus = true;

examples/SharedMemory/PhysicsServerExample.cpp

@@ -180,6 +180,7 @@ enum MultiThreadedGUIHelperCommunicationEnums
 	eGUIUserDebugRemoveAllItems,
 	eGUIDumpFramesToVideo,
 	eGUIHelperRemoveGraphicsInstance,
+	eGUIHelperChangeGraphicsInstanceRGBAColor,
 };
 
 
@@ -788,6 +789,20 @@ public:
 		workerThreadWait();    
 	}
 
+	double m_rgbaColor[4];
+	int m_graphicsInstanceChangeColor;
+	virtual void changeRGBAColor(int instanceUid, const double rgbaColor[4])
+	{
+		m_graphicsInstanceChangeColor = instanceUid;
+		m_rgbaColor[0] = rgbaColor[0];
+		m_rgbaColor[1] = rgbaColor[1];
+		m_rgbaColor[2] = rgbaColor[2];
+		m_rgbaColor[3] = rgbaColor[3];
+		m_cs->lock();
+		m_cs->setSharedParam(1,eGUIHelperChangeGraphicsInstanceRGBAColor);
+		workerThreadWait();    
+	}
+
 	virtual Common2dCanvasInterface* get2dCanvasInterface()
 	{
 		return 0;
@@ -1574,7 +1589,12 @@ void	PhysicsServerExample::updateGraphics()
 		break;
 	}
 
-	
+	case eGUIHelperChangeGraphicsInstanceRGBAColor:
+	{
+		m_multiThreadedHelper->m_childGuiHelper->changeRGBAColor(m_multiThreadedHelper->m_graphicsInstanceChangeColor,m_multiThreadedHelper->m_rgbaColor);
+		m_multiThreadedHelper->mainThreadRelease();
+		break;
+	}
 
     case eGUIHelperCopyCameraImageData:
         {

examples/SharedMemory/SharedMemoryCommands.h

@@ -245,12 +245,19 @@ struct RequestVisualShapeDataArgs
 	int m_startingVisualShapeIndex;
 };
 
+enum EnumUpdateVisualShapeData
+{
+	CMD_UPDATE_VISUAL_SHAPE_TEXTURE=1,
+	CMD_UPDATE_VISUAL_SHAPE_RGBA_COLOR=2,
+};
+
 struct UpdateVisualShapeDataArgs
 {
     int m_bodyUniqueId;
     int m_jointIndex;
     int m_shapeIndex;
     int m_textureUniqueId;
+	double m_rgbaColor[4];
 };
 
 struct LoadTextureArgs

examples/pybullet/pybullet.c

@@ -4027,7 +4027,7 @@ static PyObject* pybullet_getVisualShapeData(PyObject* self, PyObject* args, PyO
 	return Py_None;
 }
 
-static PyObject* pybullet_resetVisualShapeData(PyObject* self, PyObject* args, PyObject* keywds)
+static PyObject* pybullet_changeVisualShape(PyObject* self, PyObject* args, PyObject* keywds)
 {
 	int objectUniqueId = -1;
 	int jointIndex = -1;
@@ -4037,9 +4037,11 @@ static PyObject* pybullet_resetVisualShapeData(PyObject* self, PyObject* args, P
 	b3SharedMemoryStatusHandle statusHandle;
 	int statusType;
 	int physicsClientId = 0;
+	PyObject* rgbaColorObj = 0;
+
 	b3PhysicsClientHandle sm = 0;
-	static char* kwlist[] = {"objectUniqueId", "jointIndex", "shapeIndex", "textureUniqueId", "physicsClientId", NULL};
+	static char* kwlist[] = {"objectUniqueId", "linkIndex", "shapeIndex", "textureUniqueId", "rgbaColor", "physicsClientId", NULL};
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "iiii|i", kwlist, &objectUniqueId, &jointIndex, &shapeIndex, &textureUniqueId, &physicsClientId))
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|iiOi", kwlist, &objectUniqueId, &jointIndex, &shapeIndex, &textureUniqueId, &rgbaColorObj, &physicsClientId))
 	{
 		return NULL;
 	}
@@ -4052,6 +4054,14 @@ static PyObject* pybullet_resetVisualShapeData(PyObject* self, PyObject* args, P
 
 	{
 		commandHandle = b3InitUpdateVisualShape(sm, objectUniqueId, jointIndex, shapeIndex, textureUniqueId);
+
+		if (rgbaColorObj)
+		{
+			double rgbaColor[4] = {1,1,1,1};
+			pybullet_internalSetVector4d(rgbaColorObj, rgbaColor);
+			b3UpdateVisualShapeRGBAColor(commandHandle,rgbaColor);
+		}
+
 		statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
 		statusType = b3GetStatusType(statusHandle);
 		if (statusType == CMD_VISUAL_SHAPE_UPDATE_COMPLETED)
@@ -5913,7 +5923,7 @@ static PyMethodDef SpamMethods[] = {
 	 "Reset the state (position, velocity etc) for a joint on a body "
 	 "instantaneously, not through physics simulation."},
 	
-	{"changeDynamicsInfo", (PyCFunction)pybullet_changeDynamicsInfo, METH_VARARGS | METH_KEYWORDS,
+	{"changeDynamics", (PyCFunction)pybullet_changeDynamicsInfo, METH_VARARGS | METH_KEYWORDS,
 	 "change dynamics information such as mass, lateral friction coefficient."},
 	
 	{"getDynamicsInfo", (PyCFunction)pybullet_getDynamicsInfo, METH_VARARGS | METH_KEYWORDS,
@@ -6019,8 +6029,11 @@ static PyMethodDef SpamMethods[] = {
 	{"getVisualShapeData", (PyCFunction)pybullet_getVisualShapeData, METH_VARARGS | METH_KEYWORDS,
 	 "Return the visual shape information for one object."},
 
-	{"resetVisualShapeData", (PyCFunction)pybullet_resetVisualShapeData, METH_VARARGS | METH_KEYWORDS,
+	{"changeVisualShape", (PyCFunction)pybullet_changeVisualShape, METH_VARARGS | METH_KEYWORDS,
-	 "Reset part of the visual shape information for one object."},
+	 "Change part of the visual shape information for one object."},
+	
+	 {"resetVisualShapeData", (PyCFunction)pybullet_changeVisualShape, METH_VARARGS | METH_KEYWORDS,
+	 "Obsolete method, kept for backward compatibility, use changeVisualShapeData instead."},
 
 	{"loadTexture", (PyCFunction)pybullet_loadTexture, METH_VARARGS | METH_KEYWORDS,
 	 "Load texture file."},