The spacing of the piers is dependent on many things, but primarily on vertical and lateral load capacity. Is this a sloping site? Is there a known tendency for homes in your area to experience differential settlement (do your neighbors complain of their houses leaning strangely, and perhaps differnetly in the summer than the winter?), is there a body of water nearby?
The grade beams must be designed by an engineer and should be considered as though there is no soil below it. This is because of the fact that the expansive soil may contract and provide no bearing capacity. If you are on a sloping site, you may have lateral loads imposed on the piers as well. I don't know much about Texas seismic requirements, but te design of the foundation may use the piers for lateral resistance of earthquake forces or that may be left to the grade beams if the loads are small. In this case, the beams would have to be designed for this additional load.
In short there are numerous ways that a foundation of this sort can be designed...you really need an engineer to review this.