How to create polyhedron mesh using reactphysics3d - c++

Question

I am using reactphysics3d library https://github.com/DanielChappuis/reactphysics3d
I am trying to create a square pyramid as a polyhedron mesh - 4 outer triangular faces and two base triangular faces.
I am able to successfully create the polygon vertex array, but I am having problems with the polyhedron creation stage.
I am following the progression of shape creation as outlined in the user manual.
I would appreciate help with this!
Thanks
This is my code - I tried using a triangular pyramid (triangle base with triangle faces) to create a triangular mesh and was able to do so. I was then able to create a concave shape.
However, I want to create a convex shape using a polyhedron mesh for a triangle pyramid with a square base.
Any advice would be appreciated!
//array of 5 points, 3 coordinates
float vertices[15];
for(int k=0; k<5; k++){
std::string vert = "v" + std::to_string(k);
vertices[3*k] = j3["data"]["vertices"][vert]["x"];
vertices[3*k+1] = j3["data"]["vertices"][vert]["y"];
vertices[3*k+2] = j3["data"]["vertices"][vert]["z"];
std::cout << std::setprecision(8);
std::cout << "added " << vertices[3*k] << "to index" << 3*k << std::endl;
std::cout << "added " << vertices[3*k+1] << "to index" << 3*k+1 << std::endl;
std::cout << "added " << vertices[3*k+2] << "to index" << 3*k+2 << std::endl;
}
//6 triangle faces
int indices[18];
//each face is defined through vertices (ccw)
//face1
indices[0] = 0; indices[1] = 2; indices[2] = 1;
//face2
indices[3] = 0; indices[4] = 2; indices[5] = 3;
//face3
indices[6] = 0; indices[7] = 4; indices[8] = 3;
//face4
indices[9] = 0; indices[10] = 1; indices[11] = 4;
//face5
indices[12] = 1; indices[13] = 2; indices[14] = 4;
//face6
indices[15] = 4; indices[16] = 2; indices[17] = 3;
rp3d::PolygonVertexArray::PolygonFace* polygonFaces = new rp3d::PolygonVertexArray::PolygonFace[6];
rp3d::PolygonVertexArray::PolygonFace* face = polygonFaces;
//each face has 3 indices
//6 triangles
for (int f=0; f<6; f++){
face->indexBase = f*3;
face->nbVertices = 3;
}
std::cout << "created polygon faces" << std::endl;
//create the polygon vertex array
rp3d::PolygonVertexArray* pva = new rp3d::PolygonVertexArray(5, vertices, sizeof(float), indices, sizeof(int), 6, polygonFaces, rp3d::PolygonVertexArray::VertexDataType::VERTEX_FLOAT_TYPE, rp3d::PolygonVertexArray::IndexDataType::INDEX_INTEGER_TYPE);
std::cout << "polygon vertex array created" << std::endl;
//create the polyhedron mesh
rp3d::PolyhedronMesh* pMesh = new rp3d::PolyhedronMesh(pva);
std::cout << "polyhedron mesh created" << std::endl;
//create the convex mesh collision shape
rp3d::ConvexMeshShape* convexMesh = new rp3d::ConvexMeshShape(pMesh);
std::cout << "convex mesh shape created" << std::endl;

Answer 1

i think you forget a face++ in the faces loop