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pybullet: fixes in polyhedral feature generation

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This commit is contained in:
Erwin Coumans
2020-03-16 23:32:26 -07:00
parent 27fbbfee7f
commit 7991012f9d
3 changed files with 12 additions and 3 deletions
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7
examples/ExampleBrowser/CollisionShape2TriangleMesh.cpp
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@@ -141,6 +141,7 @@ void CollisionShape2TriangleMesh(btCollisionShape* collisionShape, const btTrans
if (pol)
{
int baseIndex = vertexPositions.size();
for (int v = 0; v < pol->m_vertices.size(); v++)
{
vertexPositions.push_back(pol->m_vertices[v]);
@@ -152,9 +153,9 @@ void CollisionShape2TriangleMesh(btCollisionShape* collisionShape, const btTrans
{
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]);
indicesOut.push_back(baseIndex+pol->m_faces[f].m_indices[0]);
indicesOut.push_back(baseIndex + pol->m_faces[f].m_indices[ii - 1]);
indicesOut.push_back(baseIndex + pol->m_faces[f].m_indices[ii]);
}
}
}