[Box2d + SFML] Pozycje wierzchołków niestandardowych figur (trójkąty)

triangle::triangle(...)
{
    //b2Vec2 points[3];
    points[ 0 ] = b2Vec2(( pos.x ) * RSC,( pos.y + height / 2 ) * RSC );
    points[ 1 ] = b2Vec2(( pos.x + width / 2 ) * RSC,( pos.y + height ) * RSC );
    points[ 2 ] = b2Vec2(( pos.x - width / 2 ) * RSC,( pos.y + height ) * RSC );
   
    boxshape.Set( points, 3 );
   
    //sf::VertexArray sftra;
    sftra = sf::VertexArray( sf::Triangles, 3 );
   
    sftra[ 0 ].position = sf::Vector2f( points[ 0 ].x / RSC, points[ 0 ].y / RSC );
    sftra[ 1 ].position = sf::Vector2f( points[ 1 ].x / RSC, points[ 1 ].y / RSC );
    sftra[ 2 ].position = sf::Vector2f( points[ 2 ].x / RSC, points[ 2 ].y / RSC );
}

void triangle::update() // <--------
{
    sftra[ 0 ].position = sf::Vector2f( boxshape.GetVertex( 0 ).x / RSC + box->GetPosition().x / RSC, boxshape.GetVertex( 0 ).y / RSC + box->GetPosition().y / RSC );
    sftra[ 1 ].position = sf::Vector2f( boxshape.GetVertex( 1 ).x / RSC + box->GetPosition().x / RSC, boxshape.GetVertex( 1 ).y / RSC + box->GetPosition().y / RSC );
    sftra[ 2 ].position = sf::Vector2f( boxshape.GetVertex( 2 ).x / RSC + box->GetPosition().x / RSC, boxshape.GetVertex( 2 ).y / RSC + box->GetPosition().y / RSC );
}

void triangle::update()
{
    static b2MassData msda;
    box->GetMassData( & msda );
    sftra.setOrigin( msda.center.x, msda.center.y ); //ConvexShape
    sftra.setPosition( box->GetPosition().x / RSC, box->GetPosition().y / RSC );
    sftra.setRotation( sfrot( box ) );
}