//**********************************************************************************
//split polyhedra
void SplitPolyhedraDouble(const PSplitT & split){
const auto & b =(get<0>(split));
const auto & d1=(get<1>(split));
const auto & d2=(get<2>(split));
const Se3r& se3=b->state->se3;
const Vector3r pnt = se3.position;
shared_ptr<Body> B2 = SplitPolyhedra(b, d1, pnt);
shared_ptr<Body> B3 = SplitPolyhedra(B2, d2, pnt);
shared_ptr<Body> B4 = SplitPolyhedra(b, d2, pnt);
}
//**********************************************************************************
//split polyhedra
void Split(const shared_ptr<Body> body, Vector3r direction, Vector3r point){
SplitPolyhedra(body, direction, point);
}