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Merge branch 'master' of https://github.com/erwincoumans/bullet3

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erwincoumans
2018-11-13 14:32:38 -08:00
parent 7dd524075c 60b9551b38
commit 7c7235a8c5
2 changed files with 64 additions and 28 deletions
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34
examples/ExampleBrowser/CollisionShape2TriangleMesh.cpp
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@@ -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())

6
examples/MultiBody/InvertedPendulumPDControl.cpp
View File

@@ -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