void BulletDS::addCollisionObject(SP::btCollisionObject cobj, SP::SiconosVector pos, SP::SiconosVector ori, int group) { std11::array<double, 7> xpos = { (*pos)(0), (*pos)(1), (*pos)(2), (*ori)(0), (*ori)(1), (*ori)(2), (*ori)(3)}; (*_collisionObjects)[&*cobj] = boost::tuple<SP::btCollisionObject, OffSet , int> (cobj, xpos, group); updateCollisionObjects(); }
//////////////////////////////////////////////////////////// // Get a pointer to the collision-object-map // // \return Pointer to the collision-object-map //////////////////////////////////////////////////////////// std::list<std::pair<unsigned int, pwCollisionObject*>>* GetCollisionObjectMap() {updateCollisionObjects(); return &myCollisionMap;}