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If a convex has called 'initializePolyhedralFeatures', use those features also to create debug visualizer mesh, to avoid showing penetration.

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Avoid crash in InvertedPendulumPDControl, due to recent change in m_jointFeedbackInWorldSpace
This commit is contained in:
erwincoumans
2018-11-12 21:46:11 -08:00
parent a06b5de7b6
commit 60b9551b38
2 changed files with 64 additions and 28 deletions
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8
examples/MultiBody/InvertedPendulumPDControl.cpp
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@@ -313,13 +313,15 @@ void InvertedPendulumPDControl::initPhysics()
int upAxis = 1;
m_dynamicsWorld->getSolverInfo().m_jointFeedbackInWorldSpace = true;
m_dynamicsWorld->getSolverInfo().m_jointFeedbackInJointFrame = true;
m_guiHelper->setUpAxis(upAxis);
this->createEmptyDynamicsWorld();
m_dynamicsWorld->getSolverInfo().m_jointFeedbackInWorldSpace = true;
m_dynamicsWorld->getSolverInfo().m_jointFeedbackInJointFrame = true;
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
m_dynamicsWorld->getDebugDrawer()->setDebugMode(
//btIDebugDraw::DBG_DrawConstraints