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

Avoid crash in InvertedPendulumPDControl, due to recent change in m_jointFeedbackInWorldSpace

examples/ExampleBrowser/CollisionShape2TriangleMesh.cpp

@@ -3,6 +3,7 @@
 
 #include "btBulletCollisionCommon.h"
 #include "BulletCollision/CollisionShapes/btShapeHull.h"  //to create a tesselation of a generic btConvexShape
+#include "BulletCollision/CollisionShapes/btConvexPolyhedron.h"
 
 void CollisionShape2TriangleMesh(btCollisionShape* collisionShape, const btTransform& parentTransform, btAlignedObjectArray<btVector3>& vertexPositions, btAlignedObjectArray<btVector3>& vertexNormals, btAlignedObjectArray<int>& indicesOut)
 
@@ -131,6 +132,38 @@ void CollisionShape2TriangleMesh(btCollisionShape* collisionShape, const btTrans
 			{
 				btConvexShape* convex = (btConvexShape*)collisionShape;
 				{
+					
+					const btConvexPolyhedron* pol = 0;
+					if (convex->isPolyhedral())
+					{
+						btPolyhedralConvexShape* poly = (btPolyhedralConvexShape*)convex;
+						pol = poly->getConvexPolyhedron();
+					}
+					
+					if (pol)
+					{
+						for (int v = 0; v < pol->m_vertices.size(); v++)
+						{
+							vertexPositions.push_back(pol->m_vertices[v]);
+							btVector3 norm = pol->m_vertices[v];
+							norm.safeNormalize();
+							vertexNormals.push_back(norm);
+						}
+						for (int f = 0; f < pol->m_faces.size(); f++)
+						{
+
+							for (int ii = 2; ii < pol->m_faces[f].m_indices.size(); ii++)
+							{
+								indicesOut.push_back(pol->m_faces[f].m_indices[0]);
+								indicesOut.push_back(pol->m_faces[f].m_indices[ii-1]);
+								indicesOut.push_back(pol->m_faces[f].m_indices[ii]);
+							}
+						}
+
+					} 
+					else
+					{
+
 						btShapeHull* hull = new btShapeHull(convex);
 						hull->buildHull(0.0, 1);
 
@@ -165,6 +198,7 @@ void CollisionShape2TriangleMesh(btCollisionShape* collisionShape, const btTrans
 						delete hull;
 					}
 				}
+			}
 			else
 			{
 				if (collisionShape->isCompound())

examples/MultiBody/InvertedPendulumPDControl.cpp

@@ -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