diff options
Diffstat (limited to 'examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp')
| -rw-r--r-- | examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp | 26 |
1 files changed, 14 insertions, 12 deletions
diff --git a/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp b/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp index d630f8599..f868bcb13 100644 --- a/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp +++ b/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp @@ -2265,7 +2265,7 @@ int BulletMJCFImporter::getBodyUniqueId() const return m_data->m_activeBodyUniqueId; } -static btCollisionShape* MjcfCreateConvexHullFromShapes(std::vector<tinyobj::shape_t>& shapes, const btVector3& geomScale, btScalar collisionMargin) +static btCollisionShape* MjcfCreateConvexHullFromShapes(const tinyobj::attrib_t& attribute, std::vector<tinyobj::shape_t>& shapes, const btVector3& geomScale, btScalar collisionMargin) { btCompoundShape* compound = new btCompoundShape(); compound->setMargin(collisionMargin); @@ -2278,25 +2278,26 @@ static btCollisionShape* MjcfCreateConvexHullFromShapes(std::vector<tinyobj::sha btConvexHullShape* convexHull = new btConvexHullShape(); convexHull->setMargin(collisionMargin); tinyobj::shape_t& shape = shapes[s]; + int faceCount = shape.mesh.indices.size(); for (int f = 0; f < faceCount; f += 3) { btVector3 pt; - pt.setValue(shape.mesh.positions[shape.mesh.indices[f] * 3 + 0], - shape.mesh.positions[shape.mesh.indices[f] * 3 + 1], - shape.mesh.positions[shape.mesh.indices[f] * 3 + 2]); + pt.setValue(attribute.vertices[3 * shape.mesh.indices[f].vertex_index + 0], + attribute.vertices[3 * shape.mesh.indices[f].vertex_index + 1], + attribute.vertices[3 * shape.mesh.indices[f].vertex_index + 2]); convexHull->addPoint(pt * geomScale, false); - pt.setValue(shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 0], - shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 1], - shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 2]); + pt.setValue(attribute.vertices[3 * shape.mesh.indices[f + 1].vertex_index + 0], + attribute.vertices[3 * shape.mesh.indices[f + 1].vertex_index + 1], + attribute.vertices[3 * shape.mesh.indices[f + 1].vertex_index + 2]); convexHull->addPoint(pt * geomScale, false); - pt.setValue(shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 0], - shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 1], - shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 2]); + pt.setValue(attribute.vertices[3 * shape.mesh.indices[f + 2].vertex_index + 0], + attribute.vertices[3 * shape.mesh.indices[f + 2].vertex_index + 1], + attribute.vertices[3 * shape.mesh.indices[f + 2].vertex_index + 2]); convexHull->addPoint(pt * geomScale, false); } @@ -2391,10 +2392,11 @@ class btCompoundShape* BulletMJCFImporter::convertLinkCollisionShapes(int linkIn else { std::vector<tinyobj::shape_t> shapes; - std::string err = tinyobj::LoadObj(shapes, col->m_geometry.m_meshFileName.c_str(),"",m_data->m_fileIO); + tinyobj::attrib_t attribute; + std::string err = tinyobj::LoadObj(attribute, shapes, col->m_geometry.m_meshFileName.c_str(), "", m_data->m_fileIO); //create a convex hull for each shape, and store it in a btCompoundShape - childShape = MjcfCreateConvexHullFromShapes(shapes, col->m_geometry.m_meshScale, m_data->m_globalDefaults.m_defaultCollisionMargin); + childShape = MjcfCreateConvexHullFromShapes(attribute, shapes, col->m_geometry.m_meshScale, m_data->m_globalDefaults.m_defaultCollisionMargin); } break; } |