Hi,everyone.

For topic problem,i found two function  in class hkpRigidBody:

hkWorldOperation::Result updateShape(hkpShapeModifier* shapeModifier = HK_NULL);
hkWorldOperation::Result setShape(const hkpShape* shape);

and i do a test like this:

hkGeometry *pGem = hkpShapeConverter::toSingleGeometry(it->second.pShape);
if(NULL != pGem)
{
     if (NULL != vertex_indexs)
     {
         for (mys3_uint i = 0;i < vertex_num; ++i)
         {
             pGem->m_vertices[vertex_indexs[i]].set(vertexs[i].flag.coord.x,vertexs[i].flag.coord.y,vertexs[i].flag.coord.z);
         }
     }
     else
     {
         assert(vertex_num <= pGem->m_vertices.getSize());
         for (mys3_uint i = 0;i < vertex_num; ++i)
         {
             pGem->m_vertices[i].set(vertexs[i].flag.coord.x,vertexs[i].flag.coord.y,vertexs[i].flag.coord.z);
         }
    }
}
it->second.pRigidBody->setShape(it->second.pShape);//it is error
m_pWorld->unlock();

so i found another Method,like this:

mys3_shape_modifier:public hkpShapeModifier
{
public:
mys3_shape_modifier(const mys3_uint* vertex_indexs,const mys3_float3* vertexs,mys3_uint vertex_num):
m_vertex_indexs(vertex_indexs),
m_vertexs(vertexs),
m_vertex_num(vertex_num)
{
}
void modifyShape(hkpShape* shapeInOut)
{
hkGeometry *pGem = hkpShapeConverter::toSingleGeometry(shapeInOut);
if(NULL != pGem)
{
if (NULL != m_vertex_indexs)
{
for (mys3_uint i = 0;i < m_vertex_num; ++i)
{
pGem->m_vertices[m_vertex_indexs[i]].set(m_vertexs[i].flag.coord.x,m_vertexs[i].flag.coord.y,m_vertexs[i].flag.coord.z);
}
}
else
{
assert(m_vertex_num <= pGem->m_vertices.getSize());
for (mys3_uint i = 0;i < m_vertex_num; ++i)
{
pGem->m_vertices[i].set(m_vertexs[i].flag.coord.x,m_vertexs[i].flag.coord.y,m_vertexs[i].flag.coord.z);
}
}
}
}
private:
const mys3_uint * m_vertex_indexs;
const mys3_float3* m_vertexs;
mys3_uint m_vertex_num;
};
void myclass:: update_shape()
{
stdext::hash_map<mys3_uint,mys3_physic_body>::iterator it = m_PhysicBodyMap.find(obj_hash);
if(it == m_PhysicBodyMap.end())
{
return ;
}
it->second.pRigidBody->markForWrite();
mys3_shape_modifier shapeModifier(vertex_indexs,vertexs,vertex_num);
it->second.pRigidBody->updateShape(&shapeModifier);//this step,i get a crash.
it->second.pRigidBody->unmarkForWrite();
}

the last test:

mys3_shape_modifier:public hkpShapeModifier
{
public:
 mys3_shape_modifier(const mys3_uint* vertex_indexs,const mys3_float3* vertexs,mys3_uint vertex_num):
 m_vertex_indexs(vertex_indexs),
 m_vertexs(vertexs),
 m_vertex_num(vertex_num)
 {
 }
void modifyShape(hkpShape* shapeInOut)
 {
 hkGeometry *pGem = hkpShapeConverter::toSingleGeometry(shapeInOut);
 if(NULL != pGem)
 {
 if (NULL != m_vertex_indexs)
 {
 for (mys3_uint i = 0;i < m_vertex_num; ++i)
 {
 pGem->m_vertices[m_vertex_indexs[i]].set(m_vertexs[i].flag.coord.x,m_vertexs[i].flag.coord.y,m_vertexs[i].flag.coord.z);
 }
 }
 else
 {
 assert(m_vertex_num <= pGem->m_vertices.getSize());
 for (mys3_uint i = 0;i < m_vertex_num; ++i)
 {
 pGem->m_vertices[i].set(m_vertexs[i].flag.coord.x,m_vertexs[i].flag.coord.y,m_vertexs[i].flag.coord.z);
 }
 }
 }
 }
private:
 const mys3_uint * m_vertex_indexs;
 const mys3_float3* m_vertexs;
 mys3_uint m_vertex_num;
};
void myclass:: update_shape()
{
stdext::hash_map<mys3_uint,mys3_physic_body>::iterator it = m_PhysicBodyMap.find(obj_hash);
 if(it == m_PhysicBodyMap.end())
 {
 return ;
 }
hkWorldOperation::UpdateWorldObjectShape shapeUpdateOpera;
 mys3_shape_modifier shapeModifier(vertex_indexs,vertexs,vertex_num);
 shapeUpdateOpera.m_shapeModifier = &shapeModifier;
 it->second.pRigidBody->markForWrite();
 shapeUpdateOpera.m_worldObject = it->second.pRigidBody;
 m_pWorld->lockCriticalOperations();
 m_pWorld->queueOperation(shapeUpdateOpera);
 m_pWorld->attemptToExecutePendingOperations();
 m_pWorld->unlockCriticalOperations();
 it->second.pRigidBody->unmarkForWrite();
}

but it is a error code yet,i get a crash!

how can i do for Correct code?