From 22c70bd288c6f4b10fcf866abf14e36db7fa75ec Mon Sep 17 00:00:00 2001
From: Adrian Knobloch <adrian.knobloch@student.kit.edu>
Date: Mon, 26 Jun 2017 21:23:30 +0200
Subject: [PATCH] Add boundary checks for trimesh creation
---
.../DynamicsEngine/BulletEngine/BulletObject.cpp | 11 +++++++----
1 file changed, 7 insertions(+), 4 deletions(-)
diff --git a/SimDynamics/DynamicsEngine/BulletEngine/BulletObject.cpp b/SimDynamics/DynamicsEngine/BulletEngine/BulletObject.cpp
index d78cbbd11..7ae1ba112 100644
--- a/SimDynamics/DynamicsEngine/BulletEngine/BulletObject.cpp
+++ b/SimDynamics/DynamicsEngine/BulletEngine/BulletObject.cpp
@@ -228,11 +228,14 @@ namespace SimDynamics
sc = 0.001f * ScaleFactor;
}
- for (size_t i = 0; i < trimesh->faces.size(); i++)
+ for (auto & face : trimesh->faces)
{
- btVector3 v1(btScalar((trimesh->vertices[trimesh->faces[i].id1][0] - com[0])*sc), btScalar((trimesh->vertices[trimesh->faces[i].id1][1] - com[1])*sc), btScalar((trimesh->vertices[trimesh->faces[i].id1][2] - com[2])*sc));
- btVector3 v2(btScalar((trimesh->vertices[trimesh->faces[i].id2][0] - com[0])*sc), btScalar((trimesh->vertices[trimesh->faces[i].id2][1] - com[1])*sc), btScalar((trimesh->vertices[trimesh->faces[i].id2][2] - com[2])*sc));
- btVector3 v3(btScalar((trimesh->vertices[trimesh->faces[i].id3][0] - com[0])*sc), btScalar((trimesh->vertices[trimesh->faces[i].id3][1] - com[1])*sc), btScalar((trimesh->vertices[trimesh->faces[i].id3][2] - com[2])*sc));
+ auto & vertex1 = trimesh->vertices.at(face.id1);
+ auto & vertex2 = trimesh->vertices.at(face.id2);
+ auto & vertex3 = trimesh->vertices.at(face.id3);
+ btVector3 v1(btScalar((vertex1[0] - com[0])*sc), btScalar((vertex1[1] - com[1])*sc), btScalar((vertex1[2] - com[2])*sc));
+ btVector3 v2(btScalar((vertex2[0] - com[0])*sc), btScalar((vertex2[1] - com[1])*sc), btScalar((vertex2[2] - com[2])*sc));
+ btVector3 v3(btScalar((vertex3[0] - com[0])*sc), btScalar((vertex3[1] - com[1])*sc), btScalar((vertex3[2] - com[2])*sc));
btTrimesh->addTriangle(v1, v2, v3);
}
--
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