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;}
