diff --git a/trunk/collision_space_fcl/CMakeLists.txt b/trunk/deprecated/collision_space_fcl/CMakeLists.txt
similarity index 100%
rename from trunk/collision_space_fcl/CMakeLists.txt
rename to trunk/deprecated/collision_space_fcl/CMakeLists.txt
diff --git a/trunk/collision_space_fcl/Makefile b/trunk/deprecated/collision_space_fcl/Makefile
similarity index 100%
rename from trunk/collision_space_fcl/Makefile
rename to trunk/deprecated/collision_space_fcl/Makefile
diff --git a/trunk/collision_space_fcl/include/collision_space_fcl/environment.h b/trunk/deprecated/collision_space_fcl/include/collision_space_fcl/environment.h
similarity index 100%
rename from trunk/collision_space_fcl/include/collision_space_fcl/environment.h
rename to trunk/deprecated/collision_space_fcl/include/collision_space_fcl/environment.h
diff --git a/trunk/collision_space_fcl/include/collision_space_fcl/environmentFCL.h b/trunk/deprecated/collision_space_fcl/include/collision_space_fcl/environmentFCL.h
similarity index 100%
rename from trunk/collision_space_fcl/include/collision_space_fcl/environmentFCL.h
rename to trunk/deprecated/collision_space_fcl/include/collision_space_fcl/environmentFCL.h
diff --git a/trunk/collision_space_fcl/include/collision_space_fcl/environment_objects.h b/trunk/deprecated/collision_space_fcl/include/collision_space_fcl/environment_objects.h
similarity index 100%
rename from trunk/collision_space_fcl/include/collision_space_fcl/environment_objects.h
rename to trunk/deprecated/collision_space_fcl/include/collision_space_fcl/environment_objects.h
diff --git a/trunk/collision_space_fcl/mainpage.dox b/trunk/deprecated/collision_space_fcl/mainpage.dox
similarity index 100%
rename from trunk/collision_space_fcl/mainpage.dox
rename to trunk/deprecated/collision_space_fcl/mainpage.dox
diff --git a/trunk/collision_space_fcl/manifest.xml b/trunk/deprecated/collision_space_fcl/manifest.xml
similarity index 100%
rename from trunk/collision_space_fcl/manifest.xml
rename to trunk/deprecated/collision_space_fcl/manifest.xml
diff --git a/trunk/collision_space_fcl/src/environment.cpp b/trunk/deprecated/collision_space_fcl/src/environment.cpp
similarity index 100%
rename from trunk/collision_space_fcl/src/environment.cpp
rename to trunk/deprecated/collision_space_fcl/src/environment.cpp
diff --git a/trunk/collision_space_fcl/src/environmentFCL.cpp b/trunk/deprecated/collision_space_fcl/src/environmentFCL.cpp
similarity index 100%
rename from trunk/collision_space_fcl/src/environmentFCL.cpp
rename to trunk/deprecated/collision_space_fcl/src/environmentFCL.cpp
diff --git a/trunk/collision_space_fcl/src/environment_objects.cpp b/trunk/deprecated/collision_space_fcl/src/environment_objects.cpp
similarity index 100%
rename from trunk/collision_space_fcl/src/environment_objects.cpp
rename to trunk/deprecated/collision_space_fcl/src/environment_objects.cpp
diff --git a/trunk/collision_space_fcl/test/test_collision_space_fcl.cpp b/trunk/deprecated/collision_space_fcl/test/test_collision_space_fcl.cpp
similarity index 100%
rename from trunk/collision_space_fcl/test/test_collision_space_fcl.cpp
rename to trunk/deprecated/collision_space_fcl/test/test_collision_space_fcl.cpp
diff --git a/trunk/collision_space_fcl_test/CMakeLists.txt b/trunk/deprecated/collision_space_fcl_test/CMakeLists.txt
similarity index 100%
rename from trunk/collision_space_fcl_test/CMakeLists.txt
rename to trunk/deprecated/collision_space_fcl_test/CMakeLists.txt
diff --git a/trunk/collision_space_fcl_test/Makefile b/trunk/deprecated/collision_space_fcl_test/Makefile
similarity index 100%
rename from trunk/collision_space_fcl_test/Makefile
rename to trunk/deprecated/collision_space_fcl_test/Makefile
diff --git a/trunk/collision_space_fcl_test/mainpage.dox b/trunk/deprecated/collision_space_fcl_test/mainpage.dox
similarity index 100%
rename from trunk/collision_space_fcl_test/mainpage.dox
rename to trunk/deprecated/collision_space_fcl_test/mainpage.dox
diff --git a/trunk/collision_space_fcl_test/manifest.xml b/trunk/deprecated/collision_space_fcl_test/manifest.xml
similarity index 100%
rename from trunk/collision_space_fcl_test/manifest.xml
rename to trunk/deprecated/collision_space_fcl_test/manifest.xml
diff --git a/trunk/collision_space_fcl_test/objects/meshes/9300.stl b/trunk/deprecated/collision_space_fcl_test/objects/meshes/9300.stl
similarity index 100%
rename from trunk/collision_space_fcl_test/objects/meshes/9300.stl
rename to trunk/deprecated/collision_space_fcl_test/objects/meshes/9300.stl
diff --git a/trunk/collision_space_fcl_test/test/test_collision_space_fcl.cpp b/trunk/deprecated/collision_space_fcl_test/test/test_collision_space_fcl.cpp
similarity index 100%
rename from trunk/collision_space_fcl_test/test/test_collision_space_fcl.cpp
rename to trunk/deprecated/collision_space_fcl_test/test/test_collision_space_fcl.cpp
diff --git a/trunk/fcl/CMakeLists.txt b/trunk/fcl/CMakeLists.txt
index 8e9ab8f6e637182db1a901467d7220da22a0fb05..83501960d4c336b80bd31f9145c013621950e32b 100644
--- a/trunk/fcl/CMakeLists.txt
+++ b/trunk/fcl/CMakeLists.txt
@@ -16,54 +16,6 @@ set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
 #set the default path for built libraries to the "lib" directory
 set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
 
-#uncomment if you have defined messages
-#rosbuild_genmsg()
-#uncomment if you have defined services
-#rosbuild_gensrv()
-
-#common commands for building c++ executables and libraries
-#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
-#target_link_libraries(${PROJECT_NAME} another_library)
-#rosbuild_add_boost_directories()
-#rosbuild_link_boost(${PROJECT_NAME} thread)
-#rosbuild_add_executable(example examples/example.cpp)
-#target_link_libraries(example ${PROJECT_NAME})
-
-add_definitions(-DUSE_PQP=1)
 add_definitions(-DUSE_SVMLIGHT=0)
 
 rosbuild_add_library(${PROJECT_NAME} src/AABB.cpp src/OBB.cpp src/RSS.cpp src/vec_3f.cpp src/traversal_node_base.cpp src/traversal_node_bvhs.cpp src/intersect.cpp src/motion.cpp src/BV_fitter.cpp src/BV_splitter.cpp src/BVH_model.cpp src/BVH_utility.cpp src/transform.cpp src/simple_setup.cpp src/geometric_shapes.cpp src/geometric_shapes_utility.cpp src/geometric_shapes_intersect.cpp src/collision_node.cpp src/traversal_recurse.cpp src/broad_phase_collision.cpp src/collision.cpp src/collision_func_matrix.cpp src/interval_tree.cpp src/conservative_advancement.cpp src/matrix_3f.cpp src/interval.cpp src/interval_vector.cpp src/interval_matrix.cpp src/taylor_model.cpp src/taylor_vector.cpp src/taylor_matrix.cpp)
-target_link_libraries(fcl)
-
-rosbuild_add_gtest(test_core_collision test/test_core_collision.cpp)
-target_link_libraries(test_core_collision fcl)
-
-rosbuild_add_gtest(test_core_distance test/test_core_distance.cpp)
-target_link_libraries(test_core_distance fcl)
-
-rosbuild_add_executable(test_core_collision_point test/test_core_collision_point.cpp)
-target_link_libraries(test_core_collision_point fcl)
-
-rosbuild_add_gtest(test_core_geometric_shapes test/test_core_geometric_shapes.cpp)
-target_link_libraries(test_core_geometric_shapes fcl)
-
-rosbuild_add_gtest(test_core_collision_shape_mesh_consistency test/test_core_collision_shape_mesh_consistency.cpp)
-target_link_libraries(test_core_collision_shape_mesh_consistency fcl)
-
-rosbuild_add_gtest(test_core_broad_phase test/test_core_broad_phase.cpp)
-target_link_libraries(test_core_broad_phase fcl)
-
-rosbuild_add_gtest(test_core_front_list test/test_core_front_list.cpp)
-target_link_libraries(test_core_front_list fcl)
-
-rosbuild_add_gtest(test_core_continuous_collision test/test_core_continuous_collision.cpp)
-target_link_libraries(test_core_continuous_collision fcl)
-
-rosbuild_add_executable(test_core_deformable_object test/test_core_deformable_object.cpp)
-target_link_libraries(test_core_deformable_object fcl assimp)
-
-rosbuild_add_executable(test_core_conservative_advancement test/test_core_conservative_advancement.cpp)
-target_link_libraries(test_core_conservative_advancement fcl)
-
-rosbuild_add_executable(timing_test test/timing_test.cpp test/timer.cpp)
-target_link_libraries(timing_test fcl)
\ No newline at end of file
diff --git a/trunk/fcl/include/fcl/OBB.h b/trunk/fcl/include/fcl/OBB.h
index 7d6500911b742493065d9d3ee3c83feebcd2810e..2d03d8c756112adb91823a10816ef4cc843fcc35 100644
--- a/trunk/fcl/include/fcl/OBB.h
+++ b/trunk/fcl/include/fcl/OBB.h
@@ -34,8 +34,8 @@
 
 /** \author Jia Pan */
 
-#ifndef FCL_PQP_H
-#define FCL_PQP_H
+#ifndef FCL_OBB_H
+#define FCL_OBB_H
 
 #include "fcl/BVH_internal.h"
 #include "fcl/vec_3f.h"
diff --git a/trunk/fcl/manifest.xml b/trunk/fcl/manifest.xml
index 3e25e7efef5f252131d9f7ee512e22c6eeaf17fe..9434d81ff484a8645bf6a84ae3715ff24d7504d3 100644
--- a/trunk/fcl/manifest.xml
+++ b/trunk/fcl/manifest.xml
@@ -10,8 +10,6 @@
   <url>http://ros.org/wiki/fcl</url>
   <depend package="libccd"/>
   <depend package="ann"/>
-  <depend package="PQP"/>
-  <!-- <depend package="svm_light"/> -->
   <depend package="common_rosdeps"/>
 
   <rosdep name="assimp"/>
@@ -21,5 +19,3 @@
   </export>
 
 </package>
-
-
diff --git a/trunk/fcl/test/env.obj b/trunk/fcl/test/env.obj
deleted file mode 100644
index 1aeb971dd0ef443b111e3e53aeb11ed989428260..0000000000000000000000000000000000000000
--- a/trunk/fcl/test/env.obj
+++ /dev/null
@@ -1,8721 +0,0 @@
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diff --git a/trunk/fcl/test/rob.obj b/trunk/fcl/test/rob.obj
deleted file mode 100644
index fbc5c75f41b300bfd47ac4a10728a755bda68e7c..0000000000000000000000000000000000000000
--- a/trunk/fcl/test/rob.obj
+++ /dev/null
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diff --git a/trunk/fcl/test/test_core_broad_phase.cpp b/trunk/fcl/test/test_core_broad_phase.cpp
deleted file mode 100644
index ae196f990743d4d772f28c760363bea73d90243e..0000000000000000000000000000000000000000
--- a/trunk/fcl/test/test_core_broad_phase.cpp
+++ /dev/null
@@ -1,247 +0,0 @@
-/*
- * Software License Agreement (BSD License)
- *
- *  Copyright (c) 2011, Willow Garage, Inc.
- *  All rights reserved.
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions
- *  are met:
- *
- *   * Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *   * Redistributions in binary form must reproduce the above
- *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/or other materials provided
- *     with the distribution.
- *   * Neither the name of Willow Garage, Inc. nor the names of its
- *     contributors may be used to endorse or promote products derived
- *     from this software without specific prior written permission.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- *  POSSIBILITY OF SUCH DAMAGE.
- */
-
-/** \author Jia Pan */
-
-
-#include "fcl/broad_phase_collision.h"
-#include "fcl/geometric_shape_to_BVH_model.h"
-#include "fcl/transform.h"
-#include "test_core_utility.h"
-#include <gtest/gtest.h>
-
-using namespace fcl;
-
-
-void generateEnvironments(std::vector<CollisionObject*>& env, int n);
-
-
-TEST(test_core, broad_phase_collision)
-{
-  bool exhaustive = false;
-
-  std::vector<CollisionObject*> env;
-  generateEnvironments(env, 100);
-
-  std::vector<CollisionObject*> query;
-  generateEnvironments(query, 10);
-
-  BroadPhaseCollisionManager* manager1 = new NaiveCollisionManager();
-  BroadPhaseCollisionManager* manager2 = new SSaPCollisionManager();
-  BroadPhaseCollisionManager* manager3 = new SaPCollisionManager();
-  BroadPhaseCollisionManager* manager4 = new IntervalTreeCollisionManager();
-
-
-  for(unsigned int i = 0; i < env.size(); ++i)
-  {
-    manager1->registerObject(env[i]);
-    manager2->registerObject(env[i]);
-    manager3->registerObject(env[i]);
-    manager4->registerObject(env[i]);
-  }
-
-  manager1->setup();
-  manager2->setup();
-  manager3->setup();
-  manager4->setup();
-
-  CollisionData self_data1;
-  self_data1.exhaustive = exhaustive;
-  CollisionData self_data2;
-  self_data2.exhaustive = exhaustive;
-  CollisionData self_data3;
-  self_data3.exhaustive = exhaustive;
-  CollisionData self_data4;
-  self_data4.exhaustive = exhaustive;
-
-  manager1->collide(&self_data1, defaultCollisionFunction);
-  manager2->collide(&self_data2, defaultCollisionFunction);
-  manager3->collide(&self_data3, defaultCollisionFunction);
-  manager3->collide(&self_data4, defaultCollisionFunction);
-
-  bool self_res1 = (self_data1.contacts.size() > 0);
-  bool self_res2 = (self_data2.contacts.size() > 0);
-  bool self_res3 = (self_data3.contacts.size() > 0);
-  bool self_res4 = (self_data4.contacts.size() > 0);
-
-  ASSERT_TRUE(self_res1 == self_res2);
-  ASSERT_TRUE(self_res1 == self_res3);
-  ASSERT_TRUE(self_res1 == self_res4);
-
-
-  for(unsigned int i = 0; i < query.size(); ++i)
-  {
-    CollisionData query_data1;
-    query_data1.exhaustive = exhaustive;
-    CollisionData query_data2;
-    query_data2.exhaustive = exhaustive;
-    CollisionData query_data3;
-    query_data3.exhaustive = exhaustive;
-    CollisionData query_data4;
-    query_data4.exhaustive = exhaustive;
-
-    manager1->collide(query[i], &query_data1, defaultCollisionFunction);
-    manager2->collide(query[i], &query_data2, defaultCollisionFunction);
-    manager3->collide(query[i], &query_data3, defaultCollisionFunction);
-    manager4->collide(query[i], &query_data4, defaultCollisionFunction);
-
-    bool query_res1 = (query_data1.contacts.size() > 0);
-    bool query_res2 = (query_data2.contacts.size() > 0);
-    bool query_res3 = (query_data3.contacts.size() > 0);
-    bool query_res4 = (query_data4.contacts.size() > 0);
-
-    ASSERT_TRUE(query_res1 == query_res2);
-    ASSERT_TRUE(query_res1 == query_res3);
-    ASSERT_TRUE(query_res1 == query_res4);
-  }
-
-
-  for(unsigned int i = 0; i < env.size(); ++i)
-    delete env[i];
-  for(unsigned int i = 0; i < query.size(); ++i)
-    delete query[i];
-
-  delete manager1;
-  delete manager2;
-  delete manager3;
-  delete manager4;
-}
-
-
-
-TEST(test_core, broad_phase_self_collision_exhaustive)
-{
-  bool exhaustive = true;
-
-  std::vector<CollisionObject*> env;
-  generateEnvironments(env, 100);
-
-  BroadPhaseCollisionManager* manager1 = new NaiveCollisionManager();
-  BroadPhaseCollisionManager* manager2 = new SSaPCollisionManager();
-  BroadPhaseCollisionManager* manager3 = new SaPCollisionManager();
-  BroadPhaseCollisionManager* manager4 = new IntervalTreeCollisionManager();
-
-
-  for(unsigned int i = 0; i < env.size(); ++i)
-  {
-    manager1->registerObject(env[i]);
-    manager2->registerObject(env[i]);
-    manager3->registerObject(env[i]);
-    manager4->registerObject(env[i]);
-  }
-
-  manager1->setup();
-  manager2->setup();
-  manager3->setup();
-  manager4->setup();
-
-  CollisionData self_data1;
-  self_data1.exhaustive = exhaustive;
-  CollisionData self_data2;
-  self_data2.exhaustive = exhaustive;
-  CollisionData self_data3;
-  self_data3.exhaustive = exhaustive;
-  CollisionData self_data4;
-  self_data4.exhaustive = exhaustive;
-
-  manager1->collide(&self_data1, defaultCollisionFunction);
-  manager2->collide(&self_data2, defaultCollisionFunction);
-  manager3->collide(&self_data3, defaultCollisionFunction);
-  manager3->collide(&self_data4, defaultCollisionFunction);
-
-  unsigned int self_res1 = self_data1.contacts.size();
-  unsigned int self_res2 = self_data2.contacts.size();
-  unsigned int self_res3 = self_data3.contacts.size();
-  unsigned int self_res4 = self_data4.contacts.size();
-
-  ASSERT_TRUE(self_res1 == self_res2);
-  ASSERT_TRUE(self_res1 == self_res3);
-  ASSERT_TRUE(self_res1 == self_res4);
-
-
-  for(unsigned int i = 0; i < env.size(); ++i)
-    delete env[i];
-
-  delete manager1;
-  delete manager2;
-  delete manager3;
-  delete manager4;
-}
-
-
-int main(int argc, char **argv)
-{
-  testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}
-
-
-void generateEnvironments(std::vector<CollisionObject*>& env, int n)
-{
-  BVH_REAL extents[] = {-200, 200, -200, 200, -200, 200};
-  BVH_REAL delta_trans[] = {1, 1, 1};
-  std::vector<Transform> transforms;
-  std::vector<Transform> transforms2;
-
-
-  generateRandomTransform(extents, transforms, transforms2, delta_trans, 0.005 * 2 * 3.1415, n);
-  Box box(5, 10, 20);
-  for(int i = 0; i < n; ++i)
-  {
-    BVHModel<OBB>* model = new BVHModel<OBB>();
-    box.setLocalTransform(transforms[i].R, transforms[i].T);
-    generateBVHModel(*model, box, SimpleTransform());
-    env.push_back(new CollisionObject(boost::shared_ptr<CollisionGeometry>(model)));
-  }
-
-  generateRandomTransform(extents, transforms, transforms2, delta_trans, 0.005 * 2 * 3.1415, n);
-  Sphere sphere(30);
-  for(int i = 0; i < n; ++i)
-  {
-    BVHModel<OBB>* model = new BVHModel<OBB>();
-    sphere.setLocalTransform(transforms[i].R, transforms[i].T);
-    generateBVHModel(*model, sphere, SimpleTransform());
-    env.push_back(new CollisionObject(boost::shared_ptr<CollisionGeometry>(model)));
-  }
-
-  generateRandomTransform(extents, transforms, transforms2, delta_trans, 0.005 * 2 * 3.1415, n);
-  Cylinder cylinder(10, 40);
-  for(int i = 0; i < n; ++i)
-  {
-    BVHModel<OBB>* model = new BVHModel<OBB>();
-    cylinder.setLocalTransform(transforms[i].R, transforms[i].T);
-    generateBVHModel(*model, cylinder, SimpleTransform());
-    env.push_back(new CollisionObject(boost::shared_ptr<CollisionGeometry>(model)));
-  }
-}
diff --git a/trunk/fcl/test/test_core_collision.cpp b/trunk/fcl/test/test_core_collision.cpp
deleted file mode 100644
index 6623189f79f3fb15e491784fecff8aae0cfc5272..0000000000000000000000000000000000000000
--- a/trunk/fcl/test/test_core_collision.cpp
+++ /dev/null
@@ -1,847 +0,0 @@
-/*
- * Software License Agreement (BSD License)
- *
- *  Copyright (c) 2011, Willow Garage, Inc.
- *  All rights reserved.
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions
- *  are met:
- *
- *   * Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *   * Redistributions in binary form must reproduce the above
- *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/or other materials provided
- *     with the distribution.
- *   * Neither the name of Willow Garage, Inc. nor the names of its
- *     contributors may be used to endorse or promote products derived
- *     from this software without specific prior written permission.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- *  POSSIBILITY OF SUCH DAMAGE.
- */
-
-/** \author Jia Pan */
-
-
-#include "fcl/traversal_node_bvhs.h"
-#include "fcl/collision_node.h"
-#include "fcl/simple_setup.h"
-#include "fcl/collision.h"
-#include "test_core_utility.h"
-#include <gtest/gtest.h>
-
-#if USE_PQP
-#include <PQP.h>
-#endif
-
-using namespace fcl;
-
-template<typename BV>
-bool collide_Test(const Transform& tf,
-                  const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
-                  const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2, SplitMethodType split_method, bool verbose = true);
-
-template<typename BV>
-bool collide_Test2(const Transform& tf,
-                   const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
-                   const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2, SplitMethodType split_method, bool verbose = true);
-
-bool collide_Test_OBB(const Transform& tf,
-                      const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
-                      const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2, SplitMethodType split_method, bool verbose = true);
-
-bool collide_Test_RSS(const Transform& tf,
-                      const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
-                      const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2, SplitMethodType split_method, bool verbose = true);
-
-template<typename BV>
-bool test_collide_func(const Transform& tf,
-                       const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
-                       const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2, SplitMethodType split_method);
-
-int num_max_contacts = -1;
-bool exhaustive = true;
-bool enable_contact = true;
-
-std::vector<BVHCollisionPair> global_pairs;
-std::vector<BVHCollisionPair> global_pairs_now;
-
-std::vector<std::pair<int, int> > PQP_pairs;
-
-TEST(collision_test, mesh_mesh)
-{
-  std::vector<Vec3f> p1, p2;
-  std::vector<Triangle> t1, t2;
-  loadOBJFile("test/env.obj", p1, t1);
-  loadOBJFile("test/rob.obj", p2, t2);
-
-  std::vector<Transform> transforms; // t0
-  std::vector<Transform> transforms2; // t1
-  BVH_REAL extents[] = {-3000, -3000, 0, 3000, 3000, 3000};
-  BVH_REAL delta_trans[] = {1, 1, 1};
-  int n = 10;
-  bool verbose = false;
-
-  generateRandomTransform(extents, transforms, transforms2, delta_trans, 0.005 * 2 * 3.1415, n);
-
-  // collision
-  for(unsigned int i = 0; i < transforms.size(); ++i)
-  {
-    global_pairs.clear();
-    global_pairs_now.clear();
-#if USE_PQP
-    PQP_pairs.clear();
-    collide_PQP(transforms[i], p1, t1, p2, t2, PQP_pairs, verbose);
-    global_pairs.resize(PQP_pairs.size());
-    for(unsigned int j = 0; j < PQP_pairs.size(); ++j)
-      global_pairs[j] = BVHCollisionPair(PQP_pairs[j].first, PQP_pairs[j].second);
-
-    PQP_pairs.clear();
-    collide_PQP2(transforms[i], p1, t1, p2, t2, PQP_pairs, verbose);
-    global_pairs_now.resize(PQP_pairs.size());
-    for(unsigned int j = 0; j < PQP_pairs.size(); ++j)
-      global_pairs_now[j] = BVHCollisionPair(PQP_pairs[j].first, PQP_pairs[j].second);
-
-    ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
-    for(unsigned int j = 0; j < global_pairs.size(); ++j)
-    {
-      ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
-      ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
-    }
-#endif
-
-    collide_Test<OBB>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
-
-#if USE_PQP
-    ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
-    for(unsigned int j = 0; j < global_pairs.size(); ++j)
-    {
-      ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
-      ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
-    }
-#endif
-
-    collide_Test<OBB>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);
-
-    ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
-    for(unsigned int j = 0; j < global_pairs.size(); ++j)
-    {
-      ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
-      ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
-    }
-
-    collide_Test<OBB>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
-
-    ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
-    for(unsigned int j = 0; j < global_pairs.size(); ++j)
-    {
-      ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
-      ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
-    }
-
-    collide_Test<RSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
-
-    ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
-    for(unsigned int j = 0; j < global_pairs.size(); ++j)
-    {
-      ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
-      ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
-    }
-
-    collide_Test<RSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);
-
-    ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
-    for(unsigned int j = 0; j < global_pairs.size(); ++j)
-    {
-      ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
-      ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
-    }
-
-    collide_Test<RSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
-
-    ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
-    for(unsigned int j = 0; j < global_pairs.size(); ++j)
-    {
-      ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
-      ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
-    }
-
-    collide_Test<AABB>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
-
-    ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
-    for(unsigned int j = 0; j < global_pairs.size(); ++j)
-    {
-      ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
-      ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
-    }
-
-    collide_Test<AABB>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);
-
-    ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
-    for(unsigned int j = 0; j < global_pairs.size(); ++j)
-    {
-      ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
-      ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
-    }
-
-    collide_Test<AABB>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
-
-    ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
-    for(unsigned int j = 0; j < global_pairs.size(); ++j)
-    {
-      ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
-      ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
-    }
-
-    collide_Test<KDOP<24> >(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
-
-    ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
-    for(unsigned int j = 0; j < global_pairs.size(); ++j)
-    {
-      ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
-      ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
-    }
-
-    collide_Test<KDOP<24> >(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);
-
-    ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
-    for(unsigned int j = 0; j < global_pairs.size(); ++j)
-    {
-      ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
-      ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
-    }
-
-    collide_Test<KDOP<24> >(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
-
-    ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
-    for(unsigned int j = 0; j < global_pairs.size(); ++j)
-    {
-      ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
-      ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
-    }
-
-    collide_Test<KDOP<18> >(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
-
-    ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
-    for(unsigned int j = 0; j < global_pairs.size(); ++j)
-    {
-      ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
-      ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
-    }
-
-    collide_Test<KDOP<18> >(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);
-
-    ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
-    for(unsigned int j = 0; j < global_pairs.size(); ++j)
-    {
-      ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
-      ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
-    }
-
-    collide_Test<KDOP<18> >(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
-
-    ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
-    for(unsigned int j = 0; j < global_pairs.size(); ++j)
-    {
-      ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
-      ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
-    }
-
-    collide_Test<KDOP<16> >(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
-
-    ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
-    for(unsigned int j = 0; j < global_pairs.size(); ++j)
-    {
-      ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
-      ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
-    }
-
-    collide_Test<KDOP<16> >(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);
-
-    ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
-    for(unsigned int j = 0; j < global_pairs.size(); ++j)
-    {
-      ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
-      ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
-    }
-
-    collide_Test<KDOP<16> >(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
-
-    ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
-    for(unsigned int j = 0; j < global_pairs.size(); ++j)
-    {
-      ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
-      ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
-    }
-
-    collide_Test2<OBB>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
-
-    ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
-    for(unsigned int j = 0; j < global_pairs.size(); ++j)
-    {
-      ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
-      ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
-    }
-
-    collide_Test2<OBB>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);
-
-    ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
-    for(unsigned int j = 0; j < global_pairs.size(); ++j)
-    {
-      ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
-      ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
-    }
-
-    collide_Test2<OBB>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
-
-    ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
-    for(unsigned int j = 0; j < global_pairs.size(); ++j)
-    {
-      ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
-      ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
-    }
-
-    collide_Test2<RSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
-
-    ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
-    for(unsigned int j = 0; j < global_pairs.size(); ++j)
-    {
-      ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
-      ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
-    }
-
-    collide_Test2<RSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);
-
-    ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
-    for(unsigned int j = 0; j < global_pairs.size(); ++j)
-    {
-      ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
-      ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
-    }
-
-    collide_Test2<RSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
-
-    ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
-    for(unsigned int j = 0; j < global_pairs.size(); ++j)
-    {
-      ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
-      ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
-    }
-
-    collide_Test2<AABB>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
-
-    ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
-    for(unsigned int j = 0; j < global_pairs.size(); ++j)
-    {
-      ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
-      ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
-    }
-
-    collide_Test2<AABB>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);
-
-    ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
-    for(unsigned int j = 0; j < global_pairs.size(); ++j)
-    {
-      ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
-      ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
-    }
-
-    collide_Test2<AABB>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
-
-    ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
-    for(unsigned int j = 0; j < global_pairs.size(); ++j)
-    {
-      ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
-      ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
-    }
-
-    collide_Test2<KDOP<24> >(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
-
-    ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
-    for(unsigned int j = 0; j < global_pairs.size(); ++j)
-    {
-      ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
-      ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
-    }
-
-    collide_Test2<KDOP<24> >(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);
-
-    ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
-    for(unsigned int j = 0; j < global_pairs.size(); ++j)
-    {
-      ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
-      ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
-    }
-
-    collide_Test2<KDOP<24> >(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
-
-    ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
-    for(unsigned int j = 0; j < global_pairs.size(); ++j)
-    {
-      ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
-      ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
-    }
-
-    collide_Test2<KDOP<18> >(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
-
-    ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
-    for(unsigned int j = 0; j < global_pairs.size(); ++j)
-    {
-      ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
-      ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
-    }
-
-    collide_Test2<KDOP<18> >(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);
-
-    ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
-    for(unsigned int j = 0; j < global_pairs.size(); ++j)
-    {
-      ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
-      ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
-    }
-
-    collide_Test2<KDOP<18> >(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
-
-    ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
-    for(unsigned int j = 0; j < global_pairs.size(); ++j)
-    {
-      ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
-      ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
-    }
-
-    collide_Test2<KDOP<16> >(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
-
-    ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
-    for(unsigned int j = 0; j < global_pairs.size(); ++j)
-    {
-      ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
-      ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
-    }
-
-    collide_Test2<KDOP<16> >(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);
-
-    ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
-    for(unsigned int j = 0; j < global_pairs.size(); ++j)
-    {
-      ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
-      ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
-    }
-
-    collide_Test2<KDOP<16> >(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
-
-    ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
-    for(unsigned int j = 0; j < global_pairs.size(); ++j)
-    {
-      ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
-      ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
-    }
-
-    collide_Test_OBB(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
-
-    ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
-    for(unsigned int j = 0; j < global_pairs.size(); ++j)
-    {
-      ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
-      ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
-    }
-
-    collide_Test_OBB(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);
-
-    ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
-    for(unsigned int j = 0; j < global_pairs.size(); ++j)
-    {
-      ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
-      ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
-    }
-
-    collide_Test_OBB(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
-
-    ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
-    for(unsigned int j = 0; j < global_pairs.size(); ++j)
-    {
-      ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
-      ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
-    }
-
-    collide_Test_RSS(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
-
-    ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
-    for(unsigned int j = 0; j < global_pairs.size(); ++j)
-    {
-      ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
-      ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
-    }
-
-    collide_Test_RSS(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);
-
-    ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
-    for(unsigned int j = 0; j < global_pairs.size(); ++j)
-    {
-      ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
-      ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
-    }
-
-    collide_Test_RSS(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
-
-    ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
-    for(unsigned int j = 0; j < global_pairs.size(); ++j)
-    {
-      ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
-      ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
-    }
-
-    test_collide_func<RSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN);
-
-    ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
-    for(unsigned int j = 0; j < global_pairs.size(); ++j)
-    {
-      ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
-      ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
-    }
-
-    test_collide_func<OBB>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN);
-
-    ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
-    for(unsigned int j = 0; j < global_pairs.size(); ++j)
-    {
-      ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
-      ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
-    }
-
-    test_collide_func<AABB>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN);
-
-    ASSERT_TRUE(global_pairs.size() == global_pairs_now.size());
-    for(unsigned int j = 0; j < global_pairs.size(); ++j)
-    {
-      ASSERT_TRUE(global_pairs[j].id1 == global_pairs_now[j].id1);
-      ASSERT_TRUE(global_pairs[j].id2 == global_pairs_now[j].id2);
-    }
-  }
-}
-
-int main(int argc, char **argv)
-{
-  testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}
-
-template<typename BV>
-bool collide_Test2(const Transform& tf,
-                  const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
-                  const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2, SplitMethodType split_method, bool verbose)
-{
-  BVHModel<BV> m1;
-  BVHModel<BV> m2;
-  m1.bv_splitter.reset(new BVSplitter<BV>(split_method));
-  m2.bv_splitter.reset(new BVSplitter<BV>(split_method));
-
-  std::vector<Vec3f> vertices1_new(vertices1.size());
-  for(unsigned int i = 0; i < vertices1_new.size(); ++i)
-  {
-    vertices1_new[i] = tf.R * vertices1[i] + tf.T;
-  }
-
-
-  m1.beginModel();
-  m1.addSubModel(vertices1_new, triangles1);
-  m1.endModel();
-
-  m2.beginModel();
-  m2.addSubModel(vertices2, triangles2);
-  m2.endModel();
-
-  SimpleTransform pose1, pose2;
-
-  MeshCollisionTraversalNode<BV> node;
-
-  if(!initialize<BV>(node, m1, pose1, m2, pose2))
-    std::cout << "initialize error" << std::endl;
-
-  node.enable_statistics = verbose;
-  node.num_max_contacts = num_max_contacts;
-  node.exhaustive = exhaustive;
-  node.enable_contact = enable_contact;
-
-  collide(&node);
-
-
-  if(node.pairs.size() > 0)
-  {
-    std::vector<BVHCollisionPair> pairs(node.pairs.size());
-    for(unsigned i = 0; i < node.pairs.size(); ++i)
-      pairs[i] = node.pairs[i];
-
-    std::sort(pairs.begin(), pairs.end(), BVHCollisionPairComp());
-
-    if(global_pairs.size() == 0)
-    {
-      global_pairs.resize(pairs.size());
-      for(unsigned int i = 0 ; i < pairs.size(); ++i)
-        global_pairs[i] = pairs[i];
-    }
-    else
-    {
-      global_pairs_now.resize(pairs.size());
-      for(unsigned int i = 0 ; i < pairs.size(); ++i)
-        global_pairs_now[i] = pairs[i];
-    }
-
-
-    if(verbose)
-      std::cout << "in collision " << node.pairs.size() << ": " << std::endl;
-    if(verbose) std::cout << node.num_bv_tests << " " << node.num_leaf_tests << std::endl;
-    return true;
-  }
-  else
-  {
-    if(verbose) std::cout << "collision free " << std::endl;
-    if(verbose) std::cout << node.num_bv_tests << " " << node.num_leaf_tests << std::endl;
-    return false;
-  }
-}
-
-
-template<typename BV>
-bool collide_Test(const Transform& tf,
-                  const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
-                  const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2, SplitMethodType split_method, bool verbose)
-{
-  BVHModel<BV> m1;
-  BVHModel<BV> m2;
-  m1.bv_splitter.reset(new BVSplitter<BV>(split_method));
-  m2.bv_splitter.reset(new BVSplitter<BV>(split_method));
-
-  m1.beginModel();
-  m1.addSubModel(vertices1, triangles1);
-  m1.endModel();
-
-  m2.beginModel();
-  m2.addSubModel(vertices2, triangles2);
-  m2.endModel();
-
-  SimpleTransform pose1(tf.R, tf.T), pose2;
-
-  MeshCollisionTraversalNode<BV> node;
-
-  if(!initialize<BV>(node, m1, pose1, m2, pose2))
-    std::cout << "initialize error" << std::endl;
-
-  node.enable_statistics = verbose;
-  node.num_max_contacts = num_max_contacts;
-  node.exhaustive = exhaustive;
-  node.enable_contact = enable_contact;
-
-  collide(&node);
-
-
-  if(node.pairs.size() > 0)
-  {
-    std::vector<BVHCollisionPair> pairs(node.pairs.size());
-    for(unsigned i = 0; i < node.pairs.size(); ++i)
-      pairs[i] = node.pairs[i];
-
-    std::sort(pairs.begin(), pairs.end(), BVHCollisionPairComp());
-
-    if(global_pairs.size() == 0)
-    {
-      global_pairs.resize(pairs.size());
-      for(unsigned int i = 0 ; i < pairs.size(); ++i)
-        global_pairs[i] = pairs[i];
-    }
-    else
-    {
-      global_pairs_now.resize(pairs.size());
-      for(unsigned int i = 0 ; i < pairs.size(); ++i)
-        global_pairs_now[i] = pairs[i];
-    }
-
-    if(verbose)
-      std::cout << "in collision " << node.pairs.size() << ": " << std::endl;
-    if(verbose) std::cout << node.num_bv_tests << " " << node.num_leaf_tests << std::endl;
-    return true;
-  }
-  else
-  {
-    if(verbose) std::cout << "collision free " << std::endl;
-    if(verbose) std::cout << node.num_bv_tests << " " << node.num_leaf_tests << std::endl;
-    return false;
-  }
-}
-
-bool collide_Test_OBB(const Transform& tf,
-                      const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
-                      const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2, SplitMethodType split_method, bool verbose)
-{
-  BVHModel<OBB> m1;
-  BVHModel<OBB> m2;
-  m1.bv_splitter.reset(new BVSplitter<OBB>(split_method));
-  m2.bv_splitter.reset(new BVSplitter<OBB>(split_method));
-
-  m1.beginModel();
-  m1.addSubModel(vertices1, triangles1);
-  m1.endModel();
-
-  m2.beginModel();
-  m2.addSubModel(vertices2, triangles2);
-  m2.endModel();
-
-  SimpleTransform pose1(tf.R, tf.T), pose2;
-
-  MeshCollisionTraversalNodeOBB node;
-  if(!initialize(node, (const BVHModel<OBB>&)m1, pose1, (const BVHModel<OBB>&)m2, pose2))
-    std::cout << "initialize error" << std::endl;
-
-  node.enable_statistics = verbose;
-  node.num_max_contacts = num_max_contacts;
-  node.exhaustive = exhaustive;
-  node.enable_contact = enable_contact;
-
-  collide(&node);
-
-  if(node.pairs.size() > 0)
-  {
-    std::vector<BVHCollisionPair> pairs(node.pairs.size());
-    for(unsigned i = 0; i < node.pairs.size(); ++i)
-      pairs[i] = node.pairs[i];
-
-    std::sort(pairs.begin(), pairs.end(), BVHCollisionPairComp());
-
-    if(global_pairs.size() == 0)
-    {
-      global_pairs.resize(pairs.size());
-      for(unsigned int i = 0 ; i < pairs.size(); ++i)
-        global_pairs[i] = pairs[i];
-    }
-    else
-    {
-      global_pairs_now.resize(pairs.size());
-      for(unsigned int i = 0 ; i < pairs.size(); ++i)
-        global_pairs_now[i] = pairs[i];
-    }
-
-
-    if(verbose)
-      std::cout << "in collision " << node.pairs.size() << ": " << std::endl;
-    if(verbose) std::cout << node.num_bv_tests << " " << node.num_leaf_tests << std::endl;
-    return true;
-  }
-  else
-  {
-    if(verbose) std::cout << "collision free " << std::endl;
-    if(verbose) std::cout << node.num_bv_tests << " " << node.num_leaf_tests << std::endl;
-    return false;
-  }
-}
-
-bool collide_Test_RSS(const Transform& tf,
-                      const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
-                      const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2, SplitMethodType split_method, bool verbose)
-{
-  BVHModel<RSS> m1;
-  BVHModel<RSS> m2;
-  m1.bv_splitter.reset(new BVSplitter<RSS>(split_method));
-  m2.bv_splitter.reset(new BVSplitter<RSS>(split_method));
-
-  m1.beginModel();
-  m1.addSubModel(vertices1, triangles1);
-  m1.endModel();
-
-  m2.beginModel();
-  m2.addSubModel(vertices2, triangles2);
-  m2.endModel();
-
-  SimpleTransform pose1(tf.R, tf.T), pose2;
-
-  MeshCollisionTraversalNodeRSS node;
-  if(!initialize(node, (const BVHModel<RSS>&)m1, pose1, (const BVHModel<RSS>&)m2, pose2))
-    std::cout << "initialize error" << std::endl;
-
-  node.enable_statistics = verbose;
-  node.num_max_contacts = num_max_contacts;
-  node.exhaustive = exhaustive;
-  node.enable_contact = enable_contact;
-
-  collide(&node);
-
-  if(node.pairs.size() > 0)
-  {
-    std::vector<BVHCollisionPair> pairs(node.pairs.size());
-    for(unsigned i = 0; i < node.pairs.size(); ++i)
-      pairs[i] = node.pairs[i];
-
-    std::sort(pairs.begin(), pairs.end(), BVHCollisionPairComp());
-
-    if(global_pairs.size() == 0)
-    {
-      global_pairs.resize(pairs.size());
-      for(unsigned int i = 0 ; i < pairs.size(); ++i)
-        global_pairs[i] = pairs[i];
-    }
-    else
-    {
-      global_pairs_now.resize(pairs.size());
-      for(unsigned int i = 0 ; i < pairs.size(); ++i)
-        global_pairs_now[i] = pairs[i];
-    }
-
-    if(verbose)
-      std::cout << "in collision " << node.pairs.size() << ": " << std::endl;
-    if(verbose) std::cout << node.num_bv_tests << " " << node.num_leaf_tests << std::endl;
-    return true;
-  }
-  else
-  {
-    if(verbose) std::cout << "collision free " << std::endl;
-    if(verbose) std::cout << node.num_bv_tests << " " << node.num_leaf_tests << std::endl;
-    return false;
-  }
-}
-
-
-template<typename BV>
-bool test_collide_func(const Transform& tf,
-                       const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
-                       const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2, SplitMethodType split_method)
-{
-  BVHModel<BV> m1;
-  BVHModel<BV> m2;
-  m1.bv_splitter.reset(new BVSplitter<BV>(split_method));
-  m2.bv_splitter.reset(new BVSplitter<BV>(split_method));
-
-  m1.beginModel();
-  m1.addSubModel(vertices1, triangles1);
-  m1.endModel();
-
-  m2.beginModel();
-  m2.addSubModel(vertices2, triangles2);
-  m2.endModel();
-
-  SimpleTransform pose1(tf.R, tf.T), pose2;
-
-  std::vector<Contact> contacts;
-  int num_contacts = collide(&m1, pose1, &m2, pose2, num_max_contacts, enable_contact, exhaustive, contacts);
-  global_pairs_now.resize(num_contacts);
-
-  for(int i = 0; i < num_contacts; ++i)
-  {
-    global_pairs_now[i].id1 = contacts[i].b1;
-    global_pairs_now[i].id2 = contacts[i].b2;
-  }
-
-  std::sort(global_pairs_now.begin(), global_pairs_now.end(), BVHCollisionPairComp());
-
-  if(num_contacts > 0) return true;
-  else return false;
-}
diff --git a/trunk/fcl/test/test_core_collision_point.cpp b/trunk/fcl/test/test_core_collision_point.cpp
deleted file mode 100644
index 832f8cc7b11902490aad983496f15f505c171527..0000000000000000000000000000000000000000
--- a/trunk/fcl/test/test_core_collision_point.cpp
+++ /dev/null
@@ -1,516 +0,0 @@
-/*
- * Software License Agreement (BSD License)
- *
- *  Copyright (c) 2011, Willow Garage, Inc.
- *  All rights reserved.
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions
- *  are met:
- *
- *   * Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *   * Redistributions in binary form must reproduce the above
- *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/or other materials provided
- *     with the distribution.
- *   * Neither the name of Willow Garage, Inc. nor the names of its
- *     contributors may be used to endorse or promote products derived
- *     from this software without specific prior written permission.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- *  POSSIBILITY OF SUCH DAMAGE.
- */
-
-/** \author Jia Pan */
-
-
-#if USE_SVMLIGHT
-
-#include "fcl/traversal_node_bvhs.h"
-#include "fcl/collision_node.h"
-#include "fcl/simple_setup.h"
-#include "test_core_utility.h"
-
-#if USE_PQP
-#include <PQP.h>
-#endif
-
-using namespace fcl;
-
-template<typename BV>
-bool collide_Test_PP(const Transform& tf,
-                     const std::vector<Vec3f>& vertices1, const std::vector<Vec3f>& vertices2, SplitMethodType split_method, bool verbose = true);
-
-template<typename BV>
-bool collide_Test_MP(const Transform& tf,
-                     const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
-                     const std::vector<Vec3f>& vertices2, SplitMethodType split_method, bool verbose = true);
-template<typename BV>
-bool collide_Test_PM(const Transform& tf,
-                     const std::vector<Vec3f>& vertices1,
-                     const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2, SplitMethodType split_method, bool verbose = true);
-
-bool collide_Test_PP_OBB(const Transform& tf,
-                         const std::vector<Vec3f>& vertices1, const std::vector<Vec3f>& vertices2, SplitMethodType split_method, bool verbose = true);
-
-bool collide_Test_MP_OBB(const Transform& tf,
-                         const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
-                         const std::vector<Vec3f>& vertices2, SplitMethodType split_method, bool verbose = true);
-
-bool collide_Test_PM_OBB(const Transform& tf,
-                         const std::vector<Vec3f>& vertices1,
-                         const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2, SplitMethodType split_method, bool verbose = true);
-
-int num_max_contacts = 1;
-
-int main()
-{
-  std::vector<Vec3f> p1, p2;
-  std::vector<Triangle> t1, t2;
-  loadOBJFile("env.obj", p1, t1);
-  loadOBJFile("rob.obj", p2, t2);
-
-  std::vector<Transform> transforms; // t0
-  std::vector<Transform> transforms2; // t1
-  std::vector<Transform> transforms_ccd; // t0
-  std::vector<Transform> transforms_ccd2; // t1
-  BVH_REAL extents[] = {-3000, -3000, 0, 3000, 3000, 3000};
-  BVH_REAL delta_trans[] = {1, 1, 1};
-  int n = 10;
-
-  generateRandomTransform(extents, transforms, transforms2, delta_trans, 0.005 * 2 * 3.1415, n);
-
-  for(unsigned int i = 0; i < transforms.size(); ++i)
-  {
-    std::cout << "test id " << i << std::endl;
-
-    std::vector<std::pair<int, int> > PQP_pairs;
-    DistanceRes PQP_dist;
-
-#if USE_PQP
-    collide_PQP(transforms[i], p1, t1, p2, t2, PQP_pairs);
-
-    distance_PQP(transforms[i], p1, t1, p2, t2, PQP_dist);
-#endif
-
-    collide_Test_PP<OBB>(transforms[i], p1, p2, SPLIT_METHOD_MEAN);
-
-    collide_Test_PP<OBB>(transforms[i], p1, p2, SPLIT_METHOD_BV_CENTER);
-
-    collide_Test_PP<OBB>(transforms[i], p1, p2, SPLIT_METHOD_MEDIAN);
-
-    collide_Test_PM<OBB>(transforms[i], p1, p2, t2, SPLIT_METHOD_MEAN);
-
-    collide_Test_PM<OBB>(transforms[i], p1, p2, t2, SPLIT_METHOD_BV_CENTER);
-
-    collide_Test_PM<OBB>(transforms[i], p1, p2, t2, SPLIT_METHOD_MEDIAN);
-
-    collide_Test_MP<OBB>(transforms[i], p1, t1, p2, SPLIT_METHOD_MEAN);
-
-    collide_Test_MP<OBB>(transforms[i], p1, t1, p2, SPLIT_METHOD_BV_CENTER);
-
-    collide_Test_MP<OBB>(transforms[i], p1, t1, p2, SPLIT_METHOD_MEDIAN);
-
-    collide_Test_PP_OBB(transforms[i], p1, p2, SPLIT_METHOD_MEAN);
-
-    collide_Test_PP_OBB(transforms[i], p1, p2, SPLIT_METHOD_BV_CENTER);
-
-    collide_Test_PP_OBB(transforms[i], p1, p2, SPLIT_METHOD_MEDIAN);
-
-    collide_Test_PM_OBB(transforms[i], p1, p2, t2, SPLIT_METHOD_MEAN);
-
-    collide_Test_PM_OBB(transforms[i], p1, p2, t2, SPLIT_METHOD_BV_CENTER);
-
-    collide_Test_PM_OBB(transforms[i], p1, p2, t2, SPLIT_METHOD_MEDIAN);
-
-    collide_Test_MP_OBB(transforms[i], p1, t1, p2, SPLIT_METHOD_MEAN);
-
-    collide_Test_MP_OBB(transforms[i], p1, t1, p2, SPLIT_METHOD_BV_CENTER);
-
-    collide_Test_MP_OBB(transforms[i], p1, t1, p2, SPLIT_METHOD_MEDIAN);
-
-    std::cout << std::endl;
-  }
-}
-
-template<typename BV>
-bool collide_Test_PP(const Transform& tf,
-                     const std::vector<Vec3f>& vertices1, const std::vector<Vec3f>& vertices2, SplitMethodType split_method, bool verbose)
-{
-  BVHModel<BV> m1;
-  BVHModel<BV> m2;
-  m1.bv_splitter.reset(new BVSplitter<BV>(split_method));
-  m2.bv_splitter.reset(new BVSplitter<BV>(split_method));
-
-  m1.beginModel();
-  m1.addSubModel(vertices1);
-  m1.endModel();
-
-  m2.beginModel();
-  m2.addSubModel(vertices2);
-  m2.endModel();
-
-  SimpleTransform pose1(tf.R, tf.T), pose2;
-
-  PointCloudCollisionTraversalNode<BV> node;
-
-  if(!initialize<BV, false, false>(node, m1, pose1, m2, pose2, 0.6, 20))
-    std::cout << "initialize error" << std::endl;
-
-  node.enable_statistics = verbose;
-  node.num_max_contacts = num_max_contacts;
-
-  collide(&node);
-
-  if(node.pairs.size() > 0)
-  {
-    if(verbose)
-    {
-      std::cout << "in collision " << node.pairs.size() << ": " << std::endl;
-
-      std::vector<BVHPointCollisionPair> pairs(node.pairs.size());
-      for(unsigned i = 0; i < node.pairs.size(); ++i)
-        pairs[i] = node.pairs[i];
-
-      std::sort(pairs.begin(), pairs.end(), BVHPointCollisionPairComp());
-
-      for(unsigned i = 0; i < pairs.size(); ++i)
-      {
-        std::cout << "(" << pairs[i].id1_start << "(" << pairs[i].id1_num << ")" << " " << pairs[i].id2_start << "(" << pairs[i].id2_num << ")" << " " << pairs[i].collision_prob << ") ";
-      }
-      std::cout << std::endl;
-    }
-    if(verbose) std::cout << node.num_bv_tests << " " << node.num_leaf_tests << std::endl;
-    return true;
-  }
-  else
-  {
-    if(verbose) std::cout << "collision free " << std::endl;
-    if(verbose) std::cout << node.max_collision_prob << std::endl;
-    if(verbose) std::cout << node.num_bv_tests << " " << node.num_leaf_tests << std::endl;
-    return false;
-  }
-}
-
-bool collide_Test_PP_OBB(const Transform& tf,
-                         const std::vector<Vec3f>& vertices1, const std::vector<Vec3f>& vertices2, SplitMethodType split_method, bool verbose)
-{
-  BVHModel<OBB> m1;
-  BVHModel<OBB> m2;
-  m1.bv_splitter.reset(new BVSplitter<OBB>(split_method));
-  m2.bv_splitter.reset(new BVSplitter<OBB>(split_method));
-
-  m1.beginModel();
-  m1.addSubModel(vertices1);
-  m1.endModel();
-
-  m2.beginModel();
-  m2.addSubModel(vertices2);
-  m2.endModel();
-
-  SimpleTransform pose1(tf.R, tf.T), pose2;
-
-  PointCloudCollisionTraversalNodeOBB node;
-
-  if(!initialize(node, m1, pose1, m2, pose2, 0.6, 20))
-    std::cout << "initialize error" << std::endl;
-
-  node.enable_statistics = verbose;
-  node.num_max_contacts = num_max_contacts;
-
-  collide(&node);
-
-  if(node.pairs.size() > 0)
-  {
-    if(verbose)
-    {
-      std::cout << "in collision " << node.pairs.size() << ": " << std::endl;
-
-      std::vector<BVHPointCollisionPair> pairs(node.pairs.size());
-      for(unsigned i = 0; i < node.pairs.size(); ++i)
-        pairs[i] = node.pairs[i];
-
-      std::sort(pairs.begin(), pairs.end(), BVHPointCollisionPairComp());
-
-      for(unsigned i = 0; i < pairs.size(); ++i)
-      {
-        std::cout << "(" << pairs[i].id1_start << "(" << pairs[i].id1_num << ")" << " " << pairs[i].id2_start << "(" << pairs[i].id2_num << ")" << " " << pairs[i].collision_prob << ") ";
-      }
-      std::cout << std::endl;
-    }
-    if(verbose) std::cout << node.num_bv_tests << " " << node.num_leaf_tests << std::endl;
-    return true;
-  }
-  else
-  {
-    if(verbose) std::cout << "collision free " << std::endl;
-    if(verbose) std::cout << node.max_collision_prob << std::endl;
-    if(verbose) std::cout << node.num_bv_tests << " " << node.num_leaf_tests << std::endl;
-    return false;
-  }
-}
-
-
-
-template<typename BV>
-bool collide_Test_MP(const Transform& tf,
-                     const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
-                     const std::vector<Vec3f>& vertices2, SplitMethodType split_method, bool verbose)
-{
-  BVHModel<BV> m1;
-  BVHModel<BV> m2;
-  m1.bv_splitter.reset(new BVSplitter<BV>(split_method));
-  m2.bv_splitter.reset(new BVSplitter<BV>(split_method));
-
-  m1.beginModel();
-  m1.addSubModel(vertices1, triangles1);
-  m1.endModel();
-
-  m2.beginModel();
-  m2.addSubModel(vertices2);
-  m2.endModel();
-
-  SimpleTransform pose1(tf.R, tf.T), pose2;
-
-  PointCloudMeshCollisionTraversalNode<BV> node;
-
-  if(!initialize<BV, false, false>(node, m2, pose2, m1, pose1, 0.6, 20))
-    std::cout << "initialize error" << std::endl;
-
-  node.enable_statistics = verbose;
-  node.num_max_contacts = num_max_contacts;
-
-  collide(&node);
-
-  if(node.pairs.size() > 0)
-  {
-    if(verbose)
-    {
-      std::cout << "in collision " << node.pairs.size() << ": " << std::endl;
-
-      std::vector<BVHPointCollisionPair> pairs(node.pairs.size());
-      for(unsigned i = 0; i < node.pairs.size(); ++i)
-        pairs[i] = node.pairs[i];
-
-      std::sort(pairs.begin(), pairs.end(), BVHPointCollisionPairComp());
-
-      for(unsigned i = 0; i < pairs.size(); ++i)
-      {
-        std::cout << "(" << pairs[i].id1_start << "(" << pairs[i].id1_num << ")" << " " << pairs[i].id2_start << "(" << pairs[i].id2_num << ")" << " " << pairs[i].collision_prob << ") ";
-      }
-      std::cout << std::endl;
-    }
-    if(verbose) std::cout << node.num_bv_tests << " " << node.num_leaf_tests << std::endl;
-    return true;
-  }
-  else
-  {
-    if(verbose) std::cout << "collision free " << std::endl;
-    if(verbose) std::cout << node.max_collision_prob << std::endl;
-    if(verbose) std::cout << node.num_bv_tests << " " << node.num_leaf_tests << std::endl;
-    return false;
-  }
-}
-
-
-
-bool collide_Test_MP_OBB(const Transform& tf,
-                         const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
-                         const std::vector<Vec3f>& vertices2, SplitMethodType split_method, bool verbose)
-{
-  BVHModel<OBB> m1;
-  BVHModel<OBB> m2;
-  m1.bv_splitter.reset(new BVSplitter<OBB>(split_method));
-  m2.bv_splitter.reset(new BVSplitter<OBB>(split_method));
-
-  m1.beginModel();
-  m1.addSubModel(vertices1, triangles1);
-  m1.endModel();
-
-  m2.beginModel();
-  m2.addSubModel(vertices2);
-  m2.endModel();
-
-  SimpleTransform pose1(tf.R, tf.T), pose2;
-
-  PointCloudMeshCollisionTraversalNodeOBB node;
-
-  if(!initialize(node, m2, pose2, m1, pose1, 0.6, 20))
-    std::cout << "initialize error" << std::endl;
-
-  node.enable_statistics = verbose;
-  node.num_max_contacts = num_max_contacts;
-
-  collide(&node);
-
-  if(node.pairs.size() > 0)
-  {
-    if(verbose)
-    {
-      std::cout << "in collision " << node.pairs.size() << ": " << std::endl;
-
-      std::vector<BVHPointCollisionPair> pairs(node.pairs.size());
-      for(unsigned i = 0; i < node.pairs.size(); ++i)
-        pairs[i] = node.pairs[i];
-
-      std::sort(pairs.begin(), pairs.end(), BVHPointCollisionPairComp());
-
-      for(unsigned i = 0; i < pairs.size(); ++i)
-      {
-        std::cout << "(" << pairs[i].id1_start << "(" << pairs[i].id1_num << ")" << " " << pairs[i].id2_start << "(" << pairs[i].id2_num << ")" << " " << pairs[i].collision_prob << ") ";
-      }
-      std::cout << std::endl;
-    }
-    if(verbose) std::cout << node.num_bv_tests << " " << node.num_leaf_tests << std::endl;
-    return true;
-  }
-  else
-  {
-    if(verbose) std::cout << "collision free " << std::endl;
-    if(verbose) std::cout << node.max_collision_prob << std::endl;
-    if(verbose) std::cout << node.num_bv_tests << " " << node.num_leaf_tests << std::endl;
-    return false;
-  }
-}
-
-
-
-template<typename BV>
-bool collide_Test_PM(const Transform& tf,
-                     const std::vector<Vec3f>& vertices1,
-                     const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2, SplitMethodType split_method, bool verbose)
-{
-  BVHModel<BV> m1;
-  BVHModel<BV> m2;
-  m1.bv_splitter.reset(new BVSplitter<BV>(split_method));
-  m2.bv_splitter.reset(new BVSplitter<BV>(split_method));
-
-  m1.beginModel();
-  m1.addSubModel(vertices1);
-  m1.endModel();
-
-  m2.beginModel();
-  m2.addSubModel(vertices2, triangles2);
-  m2.endModel();
-
-  SimpleTransform pose1(tf.R, tf.T), pose2;
-
-  PointCloudMeshCollisionTraversalNode<BV> node;
-
-  if(!initialize<BV, false, false>(node, m1, pose1, m2, pose2, 0.6, 20))
-    std::cout << "initialize error" << std::endl;
-
-  node.enable_statistics = verbose;
-  node.num_max_contacts = num_max_contacts;
-
-  collide(&node);
-
-  if(node.pairs.size() > 0)
-  {
-    if(verbose)
-    {
-      std::cout << "in collision " << node.pairs.size() << ": " << std::endl;
-
-      std::vector<BVHPointCollisionPair> pairs(node.pairs.size());
-      for(unsigned i = 0; i < node.pairs.size(); ++i)
-        pairs[i] = node.pairs[i];
-
-      std::sort(pairs.begin(), pairs.end(), BVHPointCollisionPairComp());
-
-      for(unsigned i = 0; i < pairs.size(); ++i)
-      {
-        std::cout << "(" << pairs[i].id1_start << "(" << pairs[i].id1_num << ")" << " " << pairs[i].id2_start << "(" << pairs[i].id2_num << ")" << " " << pairs[i].collision_prob << ") ";
-      }
-      std::cout << std::endl;
-    }
-    if(verbose) std::cout << node.num_bv_tests << " " << node.num_leaf_tests << std::endl;
-    return true;
-  }
-  else
-  {
-    if(verbose) std::cout << "collision free " << std::endl;
-    if(verbose) std::cout << node.max_collision_prob << std::endl;
-    if(verbose) std::cout << node.num_bv_tests << " " << node.num_leaf_tests << std::endl;
-    return false;
-  }
-}
-
-
-bool collide_Test_PM_OBB(const Transform& tf,
-                         const std::vector<Vec3f>& vertices1,
-                         const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2, SplitMethodType split_method, bool verbose)
-{
-  BVHModel<OBB> m1;
-  BVHModel<OBB> m2;
-  m1.bv_splitter.reset(new BVSplitter<OBB>(split_method));
-  m2.bv_splitter.reset(new BVSplitter<OBB>(split_method));
-
-  m1.beginModel();
-  m1.addSubModel(vertices1);
-  m1.endModel();
-
-  m2.beginModel();
-  m2.addSubModel(vertices2, triangles2);
-  m2.endModel();
-
-  SimpleTransform pose1(tf.R, tf.T), pose2;
-
-  PointCloudMeshCollisionTraversalNodeOBB node;
-
-  if(!initialize(node, m1, pose1, m2, pose2, 0.6, 20))
-    std::cout << "initialize error" << std::endl;
-
-  node.enable_statistics = verbose;
-  node.num_max_contacts = num_max_contacts;
-
-  collide(&node);
-
-  if(node.pairs.size() > 0)
-  {
-    if(verbose)
-    {
-      std::cout << "in collision " << node.pairs.size() << ": " << std::endl;
-
-      std::vector<BVHPointCollisionPair> pairs(node.pairs.size());
-      for(unsigned i = 0; i < node.pairs.size(); ++i)
-        pairs[i] = node.pairs[i];
-
-      std::sort(pairs.begin(), pairs.end(), BVHPointCollisionPairComp());
-
-      for(unsigned i = 0; i < pairs.size(); ++i)
-      {
-        std::cout << "(" << pairs[i].id1_start << "(" << pairs[i].id1_num << ")" << " " << pairs[i].id2_start << "(" << pairs[i].id2_num << ")" << " " << pairs[i].collision_prob << ") ";
-      }
-      std::cout << std::endl;
-    }
-    if(verbose) std::cout << node.num_bv_tests << " " << node.num_leaf_tests << std::endl;
-    return true;
-  }
-  else
-  {
-    if(verbose) std::cout << "collision free " << std::endl;
-    if(verbose) std::cout << node.max_collision_prob << std::endl;
-    if(verbose) std::cout << node.num_bv_tests << " " << node.num_leaf_tests << std::endl;
-    return false;
-  }
-}
-
-#else
-int main()
-{
-  return 1;
-}
-#endif
-
-
diff --git a/trunk/fcl/test/test_core_collision_shape_mesh_consistency.cpp b/trunk/fcl/test/test_core_collision_shape_mesh_consistency.cpp
deleted file mode 100644
index cfa608fac7e279afca0231d3db97d46039c9be7b..0000000000000000000000000000000000000000
--- a/trunk/fcl/test/test_core_collision_shape_mesh_consistency.cpp
+++ /dev/null
@@ -1,1187 +0,0 @@
-/*
- * Software License Agreement (BSD License)
- *
- *  Copyright (c) 2011, Willow Garage, Inc.
- *  All rights reserved.
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions
- *  are met:
- *
- *   * Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *   * Redistributions in binary form must reproduce the above
- *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/or other materials provided
- *     with the distribution.
- *   * Neither the name of Willow Garage, Inc. nor the names of its
- *     contributors may be used to endorse or promote products derived
- *     from this software without specific prior written permission.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- *  POSSIBILITY OF SUCH DAMAGE.
- */
-
-/** \author Jia Pan */
-
-#include "fcl/geometric_shape_to_BVH_model.h"
-#include "fcl/collision.h"
-#include "test_core_utility.h"
-#include <gtest/gtest.h>
-
-using namespace fcl;
-
-TEST(consistency_shapemesh, spheresphere)
-{
-  Sphere s1(20);
-  Sphere s2(10);
-  BVHModel<AABB> s1_aabb;
-  BVHModel<AABB> s2_aabb;
-  BVHModel<OBB> s1_obb;
-  BVHModel<OBB> s2_obb;
-
-  generateBVHModel(s1_aabb, s1, SimpleTransform());
-  generateBVHModel(s2_aabb, s2, SimpleTransform());
-  generateBVHModel(s1_obb, s1, SimpleTransform());
-  generateBVHModel(s2_obb, s2, SimpleTransform());
-
-  std::vector<Contact> contacts;
-  bool res;
-
-  SimpleTransform pose, pose_aabb, pose_obb;
-
-
-  // s2 is within s1
-  // both are shapes --> collision
-  // s1 is shape, s2 is mesh --> in collision
-  // s1 is mesh, s2 is shape --> collision free
-  // all are reasonable
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s2_aabb, pose_aabb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s2_obb, pose_obb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s2, pose, &s1_aabb, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s2, pose, &s1_obb, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-
-  pose.setTranslation(Vec3f(40, 0, 0));
-  pose_aabb.setTranslation(Vec3f(40, 0, 0));
-  pose_obb.setTranslation(Vec3f(40, 0, 0));
-
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s2_aabb, pose_aabb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s2_obb, pose_obb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s2, pose, &s1_aabb, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s2, pose, &s1_obb, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-
-  pose.setTranslation(Vec3f(30, 0, 0));
-  pose_aabb.setTranslation(Vec3f(30, 0, 0));
-  pose_obb.setTranslation(Vec3f(30, 0, 0));
-
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s2_aabb, pose_aabb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s2_obb, pose_obb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s2, pose, &s1_aabb, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s2, pose, &s1_obb, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-
-  pose.setTranslation(Vec3f(29.9, 0, 0));
-  pose_aabb.setTranslation(Vec3f(29.8, 0, 0)); // 29.9 fails, result depends on mesh precision
-  pose_obb.setTranslation(Vec3f(29.8, 0, 0)); // 29.9 fails, result depends on mesh precision
-
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s2_aabb, pose_aabb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s2_obb, pose_obb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s2, pose, &s1_aabb, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s2, pose, &s1_obb, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-
-
-  pose.setTranslation(Vec3f(-29.9, 0, 0));
-  pose_aabb.setTranslation(Vec3f(-29.8, 0, 0)); // 29.9 fails, result depends on mesh precision
-  pose_obb.setTranslation(Vec3f(-29.8, 0, 0)); // 29.9 fails, result depends on mesh precision
-
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s2_aabb, pose_aabb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s2_obb, pose_obb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s2, pose, &s1_aabb, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s2, pose, &s1_obb, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-
-  pose.setTranslation(Vec3f(-30, 0, 0));
-  pose_aabb.setTranslation(Vec3f(-30, 0, 0));
-  pose_obb.setTranslation(Vec3f(-30, 0, 0));
-
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s2_aabb, pose_aabb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s2_obb, pose_obb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s2, pose, &s1_aabb, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s2, pose, &s1_obb, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-}
-
-TEST(consistency_shapemesh, boxbox)
-{
-  Box s1(20, 40, 50);
-  Box s2(10, 10, 10);
-
-  BVHModel<AABB> s1_aabb;
-  BVHModel<AABB> s2_aabb;
-  BVHModel<OBB> s1_obb;
-  BVHModel<OBB> s2_obb;
-  BVHModel<RSS> s1_rss;
-  BVHModel<RSS> s2_rss;
-
-  generateBVHModel(s1_aabb, s1, SimpleTransform());
-  generateBVHModel(s2_aabb, s2, SimpleTransform());
-  generateBVHModel(s1_obb, s1, SimpleTransform());
-  generateBVHModel(s2_obb, s2, SimpleTransform());
-  generateBVHModel(s1_rss, s1, SimpleTransform());
-  generateBVHModel(s2_rss, s2, SimpleTransform());
-
-  std::vector<Contact> contacts;
-  bool res;
-
-  SimpleTransform pose, pose_aabb, pose_obb;
-
-  // s2 is within s1
-  // both are shapes --> collision
-  // s1 is shape, s2 is mesh --> in collision
-  // s1 is mesh, s2 is shape --> collision free
-  // all are reasonable
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s2_aabb, pose_aabb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s2_obb, pose_obb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s2, pose, &s1_aabb, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s2, pose, &s1_obb, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-
-  pose.setTranslation(Vec3f(15.01, 0, 0));
-  pose_aabb.setTranslation(Vec3f(15.01, 0, 0));
-  pose_obb.setTranslation(Vec3f(15.01, 0, 0));
-
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s2_aabb, pose_aabb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s2_obb, pose_obb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s2, pose, &s1_aabb, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s2, pose, &s1_obb, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-
-  pose.setTranslation(Vec3f(14.99, 0, 0));
-  pose_aabb.setTranslation(Vec3f(14.99, 0, 0));
-  pose_obb.setTranslation(Vec3f(14.99, 0, 0));
-
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s2_aabb, pose_aabb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s2_obb, pose_obb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s2, pose, &s1_aabb, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s2, pose, &s1_obb, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-}
-
-TEST(consistency_shapemesh, spherebox)
-{
-  Sphere s1(20);
-  Box s2(5, 5, 5);
-
-  BVHModel<AABB> s1_aabb;
-  BVHModel<AABB> s2_aabb;
-  BVHModel<OBB> s1_obb;
-  BVHModel<OBB> s2_obb;
-  BVHModel<RSS> s1_rss;
-  BVHModel<RSS> s2_rss;
-
-  generateBVHModel(s1_aabb, s1, SimpleTransform());
-  generateBVHModel(s2_aabb, s2, SimpleTransform());
-  generateBVHModel(s1_obb, s1, SimpleTransform());
-  generateBVHModel(s2_obb, s2, SimpleTransform());
-  generateBVHModel(s1_rss, s1, SimpleTransform());
-  generateBVHModel(s2_rss, s2, SimpleTransform());
-
-  std::vector<Contact> contacts;
-  bool res;
-
-  SimpleTransform pose, pose_aabb, pose_obb;
-
-  // s2 is within s1
-  // both are shapes --> collision
-  // s1 is shape, s2 is mesh --> in collision
-  // s1 is mesh, s2 is shape --> collision free
-  // all are reasonable
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s2_aabb, pose_aabb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s2_obb, pose_obb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s2, pose, &s1_aabb, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s2, pose, &s1_obb, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-
-  pose.setTranslation(Vec3f(22.4, 0, 0));
-  pose_aabb.setTranslation(Vec3f(22.4, 0, 0));
-  pose_obb.setTranslation(Vec3f(22.4, 0, 0));
-
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s2_aabb, pose_aabb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s2_obb, pose_obb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s2, pose, &s1_aabb, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s2, pose, &s1_obb, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-
-  pose.setTranslation(Vec3f(22.51, 0, 0));
-  pose_aabb.setTranslation(Vec3f(22.51, 0, 0));
-  pose_obb.setTranslation(Vec3f(22.51, 0, 0));
-
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s2_aabb, pose_aabb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s2_obb, pose_obb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s2, pose, &s1_aabb, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s2, pose, &s1_obb, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-}
-
-TEST(consistency_shapemesh, cylindercylinder)
-{
-  Cylinder s1(5, 10);
-  Cylinder s2(5, 10);
-
-  BVHModel<AABB> s1_aabb;
-  BVHModel<AABB> s2_aabb;
-  BVHModel<OBB> s1_obb;
-  BVHModel<OBB> s2_obb;
-  BVHModel<RSS> s1_rss;
-  BVHModel<RSS> s2_rss;
-
-  generateBVHModel(s1_aabb, s1, SimpleTransform());
-  generateBVHModel(s2_aabb, s2, SimpleTransform());
-  generateBVHModel(s1_obb, s1, SimpleTransform());
-  generateBVHModel(s2_obb, s2, SimpleTransform());
-  generateBVHModel(s1_rss, s1, SimpleTransform());
-  generateBVHModel(s2_rss, s2, SimpleTransform());
-
-  std::vector<Contact> contacts;
-  bool res;
-
-  SimpleTransform pose, pose_aabb, pose_obb;
-
-  pose.setTranslation(Vec3f(9.99, 0, 0));
-  pose_aabb.setTranslation(Vec3f(9.99, 0, 0));
-  pose_obb.setTranslation(Vec3f(9.99, 0, 0));
-
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s2_aabb, pose_aabb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s2_obb, pose_obb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s2, pose, &s1_aabb, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s2, pose, &s1_obb, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-
-  pose.setTranslation(Vec3f(10.01, 0, 0));
-  pose_aabb.setTranslation(Vec3f(10.01, 0, 0));
-  pose_obb.setTranslation(Vec3f(10.01, 0, 0));
-
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s2_aabb, pose_aabb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s2_obb, pose_obb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s2, pose, &s1_aabb, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s2, pose, &s1_obb, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-}
-
-TEST(consistency_shapemesh, conecone)
-{
-  Cone s1(5, 10);
-  Cone s2(5, 10);
-
-  BVHModel<AABB> s1_aabb;
-  BVHModel<AABB> s2_aabb;
-  BVHModel<OBB> s1_obb;
-  BVHModel<OBB> s2_obb;
-  BVHModel<RSS> s1_rss;
-  BVHModel<RSS> s2_rss;
-
-  generateBVHModel(s1_aabb, s1, SimpleTransform());
-  generateBVHModel(s2_aabb, s2, SimpleTransform());
-  generateBVHModel(s1_obb, s1, SimpleTransform());
-  generateBVHModel(s2_obb, s2, SimpleTransform());
-  generateBVHModel(s1_rss, s1, SimpleTransform());
-  generateBVHModel(s2_rss, s2, SimpleTransform());
-
-  std::vector<Contact> contacts;
-  bool res;
-
-  SimpleTransform pose, pose_aabb, pose_obb;
-
-  pose.setTranslation(Vec3f(9.9, 0, 0));
-  pose_aabb.setTranslation(Vec3f(9.9, 0, 0));
-  pose_obb.setTranslation(Vec3f(9.9, 0, 0));
-
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s2_aabb, pose_aabb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s2_obb, pose_obb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s2, pose, &s1_aabb, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s2, pose, &s1_obb, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-
-  pose.setTranslation(Vec3f(10.1, 0, 0));
-  pose_aabb.setTranslation(Vec3f(10.1, 0, 0));
-  pose_obb.setTranslation(Vec3f(10.1, 0, 0));
-
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s2_aabb, pose_aabb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s2_obb, pose_obb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s2, pose, &s1_aabb, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s2, pose, &s1_obb, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-
-  pose.setTranslation(Vec3f(0, 0, 9.9));
-  pose_aabb.setTranslation(Vec3f(0, 0, 9.9));
-  pose_obb.setTranslation(Vec3f(0, 0, 9.9));
-
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s2_aabb, pose_aabb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s2_obb, pose_obb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s2, pose, &s1_aabb, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s2, pose, &s1_obb, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-
-  pose.setTranslation(Vec3f(0, 0, 10.1));
-  pose_aabb.setTranslation(Vec3f(0, 0, 10.1));
-  pose_obb.setTranslation(Vec3f(0, 0, 10.1));
-
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s2_aabb, pose_aabb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s2_obb, pose_obb, &s1, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s2, pose, &s1_aabb, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s2, pose, &s1_obb, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1_aabb, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-}
-
-TEST(consistency, spheresphere)
-{
-  Sphere s1(20);
-  Sphere s2(10);
-  BVHModel<AABB> s1_aabb;
-  BVHModel<AABB> s2_aabb;
-  BVHModel<OBB> s1_obb;
-  BVHModel<OBB> s2_obb;
-  BVHModel<RSS> s1_rss;
-  BVHModel<RSS> s2_rss;
-
-  generateBVHModel(s1_aabb, s1, SimpleTransform());
-  generateBVHModel(s2_aabb, s2, SimpleTransform());
-  generateBVHModel(s1_obb, s1, SimpleTransform());
-  generateBVHModel(s2_obb, s2, SimpleTransform());
-  generateBVHModel(s1_rss, s1, SimpleTransform());
-  generateBVHModel(s2_rss, s2, SimpleTransform());
-
-  std::vector<Contact> contacts;
-  bool res;
-
-  SimpleTransform pose, pose_aabb, pose_obb, pose_rss;
-
-  pose.setTranslation(Vec3f(40, 0, 0));
-  pose_aabb.setTranslation(Vec3f(40, 0, 0));
-  pose_obb.setTranslation(Vec3f(40, 0, 0));
-  pose_rss.setTranslation(Vec3f(40, 0, 0));
-
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1_aabb, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1_obb, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1_rss, SimpleTransform(), &s2_rss, pose_rss, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-
-  pose.setTranslation(Vec3f(30, 0, 0));
-  pose_aabb.setTranslation(Vec3f(30, 0, 0));
-  pose_obb.setTranslation(Vec3f(30, 0, 0));
-  pose_rss.setTranslation(Vec3f(30, 0, 0));
-
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1_aabb, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1_obb, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1_rss, SimpleTransform(), &s2_rss, pose_rss, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-
-  pose.setTranslation(Vec3f(29.9, 0, 0));
-  pose_aabb.setTranslation(Vec3f(29.8, 0, 0)); // 29.9 fails, result depends on mesh precision
-  pose_obb.setTranslation(Vec3f(29.8, 0, 0)); // 29.9 fails, result depends on mesh precision
-  pose_rss.setTranslation(Vec3f(29.8, 0, 0)); // 29.9 fails, result depends on mesh precision
-
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1_aabb, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1_obb, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1_rss, SimpleTransform(), &s2_rss, pose_rss, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-
-  pose.setTranslation(Vec3f(0, 0, 0));
-  pose_aabb.setTranslation(Vec3f(0, 0, 0)); // mesh can not detect collision when ball contains ball
-  pose_obb.setTranslation(Vec3f(0, 0, 0)); // mesh can not detect collision when ball contains ball
-  pose_rss.setTranslation(Vec3f(0, 0, 0)); // mesh can not detect collision when ball contains ball
-
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1_aabb, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1_obb, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1_rss, SimpleTransform(), &s2_rss, pose_rss, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-
-  pose.setTranslation(Vec3f(-29.9, 0, 0));
-  pose_aabb.setTranslation(Vec3f(-29.8, 0, 0)); // 29.9 fails, result depends on mesh precision
-  pose_obb.setTranslation(Vec3f(-29.8, 0, 0)); // 29.9 fails, result depends on mesh precision
-  pose_rss.setTranslation(Vec3f(-29.8, 0, 0)); // 29.9 fails, result depends on mesh precision
-
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1_aabb, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1_obb, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1_rss, SimpleTransform(), &s2_rss, pose_rss, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-
-  pose.setTranslation(Vec3f(-30, 0, 0));
-  pose_aabb.setTranslation(Vec3f(-30, 0, 0));
-  pose_obb.setTranslation(Vec3f(-30, 0, 0));
-  pose_rss.setTranslation(Vec3f(-30, 0, 0));
-
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1_aabb, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1_obb, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1_rss, SimpleTransform(), &s2_rss, pose_rss, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-}
-
-TEST(consistency, boxbox)
-{
-  Box s1(20, 40, 50);
-  Box s2(10, 10, 10);
-
-  BVHModel<AABB> s1_aabb;
-  BVHModel<AABB> s2_aabb;
-  BVHModel<OBB> s1_obb;
-  BVHModel<OBB> s2_obb;
-  BVHModel<RSS> s1_rss;
-  BVHModel<RSS> s2_rss;
-
-  generateBVHModel(s1_aabb, s1, SimpleTransform());
-  generateBVHModel(s2_aabb, s2, SimpleTransform());
-  generateBVHModel(s1_obb, s1, SimpleTransform());
-  generateBVHModel(s2_obb, s2, SimpleTransform());
-  generateBVHModel(s1_rss, s1, SimpleTransform());
-  generateBVHModel(s2_rss, s2, SimpleTransform());
-
-  std::vector<Contact> contacts;
-  bool res;
-
-  SimpleTransform pose, pose_aabb, pose_obb, pose_rss;
-
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1_aabb, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res); // mesh can not detect collision when box contains box
-  contacts.clear();
-  res = (collide(&s1_obb, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res); // mesh can not detect collision when box contains box
-  contacts.clear();
-  res = (collide(&s1_rss, SimpleTransform(), &s2_rss, pose_rss, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res); // mesh can not detect collision when box contains box
-
-  pose.setTranslation(Vec3f(15.01, 0, 0));
-  pose_aabb.setTranslation(Vec3f(15.01, 0, 0));
-  pose_obb.setTranslation(Vec3f(15.01, 0, 0));
-  pose_rss.setTranslation(Vec3f(15.01, 0, 0));
-
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1_aabb, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1_obb, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1_rss, SimpleTransform(), &s2_rss, pose_rss, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-
-  pose.setTranslation(Vec3f(14.99, 0, 0));
-  pose_aabb.setTranslation(Vec3f(14.99, 0, 0));
-  pose_obb.setTranslation(Vec3f(14.99, 0, 0));
-  pose_rss.setTranslation(Vec3f(14.99, 0, 0));
-
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1_aabb, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1_obb, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1_rss, SimpleTransform(), &s2_rss, pose_rss, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-}
-
-TEST(consistency, spherebox)
-{
-  Sphere s1(20);
-  Box s2(5, 5, 5);
-
-  BVHModel<AABB> s1_aabb;
-  BVHModel<AABB> s2_aabb;
-  BVHModel<OBB> s1_obb;
-  BVHModel<OBB> s2_obb;
-  BVHModel<RSS> s1_rss;
-  BVHModel<RSS> s2_rss;
-
-  generateBVHModel(s1_aabb, s1, SimpleTransform());
-  generateBVHModel(s2_aabb, s2, SimpleTransform());
-  generateBVHModel(s1_obb, s1, SimpleTransform());
-  generateBVHModel(s2_obb, s2, SimpleTransform());
-  generateBVHModel(s1_rss, s1, SimpleTransform());
-  generateBVHModel(s2_rss, s2, SimpleTransform());
-
-  std::vector<Contact> contacts;
-  bool res;
-
-  SimpleTransform pose, pose_aabb, pose_obb, pose_rss;
-
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1_aabb, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res); // mesh can not detect collision when box contains box
-  contacts.clear();
-  res = (collide(&s1_obb, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res); // mesh can not detect collision when box contains box
-  contacts.clear();
-  res = (collide(&s1_rss, SimpleTransform(), &s2_rss, pose_rss, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res); // mesh can not detect collision when box contains box
-
-  pose.setTranslation(Vec3f(22.4, 0, 0));
-  pose_aabb.setTranslation(Vec3f(22.4, 0, 0));
-  pose_obb.setTranslation(Vec3f(22.4, 0, 0));
-  pose_rss.setTranslation(Vec3f(22.4, 0, 0));
-
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1_aabb, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1_obb, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1_rss, SimpleTransform(), &s2_rss, pose_rss, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-
-  pose.setTranslation(Vec3f(22.51, 0, 0));
-  pose_aabb.setTranslation(Vec3f(22.51, 0, 0));
-  pose_obb.setTranslation(Vec3f(22.51, 0, 0));
-  pose_rss.setTranslation(Vec3f(22.51, 0, 0));
-
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1_aabb, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1_obb, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1_rss, SimpleTransform(), &s2_rss, pose_rss, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-}
-
-TEST(consistency, cylindercylinder)
-{
-  Cylinder s1(5, 10);
-  Cylinder s2(5, 10);
-
-  BVHModel<AABB> s1_aabb;
-  BVHModel<AABB> s2_aabb;
-  BVHModel<OBB> s1_obb;
-  BVHModel<OBB> s2_obb;
-  BVHModel<RSS> s1_rss;
-  BVHModel<RSS> s2_rss;
-
-  generateBVHModel(s1_aabb, s1, SimpleTransform());
-  generateBVHModel(s2_aabb, s2, SimpleTransform());
-  generateBVHModel(s1_obb, s1, SimpleTransform());
-  generateBVHModel(s2_obb, s2, SimpleTransform());
-  generateBVHModel(s1_rss, s1, SimpleTransform());
-  generateBVHModel(s2_rss, s2, SimpleTransform());
-
-  std::vector<Contact> contacts;
-  bool res;
-
-  SimpleTransform pose, pose_aabb, pose_obb, pose_rss;
-
-  pose.setTranslation(Vec3f(9.99, 0, 0));
-  pose_aabb.setTranslation(Vec3f(9.99, 0, 0));
-  pose_obb.setTranslation(Vec3f(9.99, 0, 0));
-  pose_rss.setTranslation(Vec3f(9.99, 0, 0));
-
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1_aabb, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1_obb, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1_rss, SimpleTransform(), &s2_rss, pose_rss, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-
-  pose.setTranslation(Vec3f(10.01, 0, 0));
-  pose_aabb.setTranslation(Vec3f(10.01, 0, 0));
-  pose_obb.setTranslation(Vec3f(10.01, 0, 0));
-  pose_rss.setTranslation(Vec3f(10.01, 0, 0));
-
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1_aabb, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1_obb, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1_rss, SimpleTransform(), &s2_rss, pose_rss, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-}
-
-TEST(consistency, conecone)
-{
-  Cone s1(5, 10);
-  Cone s2(5, 10);
-
-  BVHModel<AABB> s1_aabb;
-  BVHModel<AABB> s2_aabb;
-  BVHModel<OBB> s1_obb;
-  BVHModel<OBB> s2_obb;
-  BVHModel<RSS> s1_rss;
-  BVHModel<RSS> s2_rss;
-
-  generateBVHModel(s1_aabb, s1, SimpleTransform());
-  generateBVHModel(s2_aabb, s2, SimpleTransform());
-  generateBVHModel(s1_obb, s1, SimpleTransform());
-  generateBVHModel(s2_obb, s2, SimpleTransform());
-  generateBVHModel(s1_rss, s1, SimpleTransform());
-  generateBVHModel(s2_rss, s2, SimpleTransform());
-
-  std::vector<Contact> contacts;
-  bool res;
-
-  SimpleTransform pose, pose_aabb, pose_obb, pose_rss;
-
-  pose.setTranslation(Vec3f(9.9, 0, 0));
-  pose_aabb.setTranslation(Vec3f(9.9, 0, 0));
-  pose_obb.setTranslation(Vec3f(9.9, 0, 0));
-  pose_rss.setTranslation(Vec3f(9.9, 0, 0));
-
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1_aabb, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1_obb, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1_rss, SimpleTransform(), &s2_rss, pose_rss, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-
-  pose.setTranslation(Vec3f(10.1, 0, 0));
-  pose_aabb.setTranslation(Vec3f(10.1, 0, 0));
-  pose_obb.setTranslation(Vec3f(10.1, 0, 0));
-  pose_rss.setTranslation(Vec3f(10.1, 0, 0));
-
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1_aabb, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1_obb, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1_rss, SimpleTransform(), &s2_rss, pose_rss, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-
-  pose.setTranslation(Vec3f(0, 0, 9.9));
-  pose_aabb.setTranslation(Vec3f(0, 0, 9.9));
-  pose_obb.setTranslation(Vec3f(0, 0, 9.9));
-  pose_rss.setTranslation(Vec3f(0, 0, 9.9));
-
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1_aabb, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1_obb, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1_rss, SimpleTransform(), &s2_rss, pose_rss, 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-
-  pose.setTranslation(Vec3f(0, 0, 10.1));
-  pose_aabb.setTranslation(Vec3f(0, 0, 10.1));
-  pose_obb.setTranslation(Vec3f(0, 0, 10.1));
-  pose_rss.setTranslation(Vec3f(0, 0, 10.1));
-
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2, pose, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1_aabb, SimpleTransform(), &s2_aabb, pose_aabb, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1_obb, SimpleTransform(), &s2_obb, pose_obb, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1_rss, SimpleTransform(), &s2_rss, pose_rss, 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-}
-
-int main(int argc, char **argv)
-{
-  testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}
diff --git a/trunk/fcl/test/test_core_conservative_advancement.cpp b/trunk/fcl/test/test_core_conservative_advancement.cpp
deleted file mode 100644
index d59131f284563a17ba85fa31fa1da82d566e0b42..0000000000000000000000000000000000000000
--- a/trunk/fcl/test/test_core_conservative_advancement.cpp
+++ /dev/null
@@ -1,538 +0,0 @@
-/*
- * Software License Agreement (BSD License)
- *
- *  Copyright (c) 2011, Willow Garage, Inc.
- *  All rights reserved.
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions
- *  are met:
- *
- *   * Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *   * Redistributions in binary form must reproduce the above
- *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/or other materials provided
- *     with the distribution.
- *   * Neither the name of Willow Garage, Inc. nor the names of its
- *     contributors may be used to endorse or promote products derived
- *     from this software without specific prior written permission.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- *  POSSIBILITY OF SUCH DAMAGE.
- */
-
-/** \author Jia Pan */
-
-#include "fcl/conservative_advancement.h"
-#include "test_core_utility.h"
-#include "fcl/collision_node.h"
-#include "fcl/simple_setup.h"
-
-
-using namespace fcl;
-
-
-bool CA_linear_Test(const Transform& tf1, const Transform& tf2,
-                    const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
-                    const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2,
-                    SplitMethodType split_method,
-                    bool use_COM,
-                    BVH_REAL& toc);
-
-bool linear_interp_Test(const Transform& tf1, const Transform& tf2,
-                        const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
-                        const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2,
-                        SplitMethodType split_method,
-                        unsigned int nsamples,
-                        bool use_COM,
-                        BVH_REAL& toc);
-
-bool CA_screw_Test(const Transform& tf1, const Transform& tf2,
-                   const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
-                   const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2,
-                   SplitMethodType split_method,
-                   BVH_REAL& toc);
-
-
-bool screw_interp_Test(const Transform& tf1, const Transform& tf2,
-                       const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
-                       const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2,
-                       SplitMethodType split_method,
-                       unsigned int nsamples,
-                       BVH_REAL& toc);
-
-// for spline test: the deBoor points are generated with screw motion, so will not pass tf1 and tf2 exactly
-bool CA_spline_Test(const Transform& tf1, const Transform& tf2,
-                    const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
-                    const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2,
-                    SplitMethodType split_method,
-                    BVH_REAL& toc);
-
-
-bool spline_interp_Test(const Transform& tf1, const Transform& tf2,
-                        const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
-                        const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2,
-                        SplitMethodType split_method,
-                        unsigned int nsamples,
-                        BVH_REAL& toc);
-
-
-unsigned int n_dcd_samples = 1000000;
-
-int main()
-{
-  std::vector<Vec3f> p1, p2;
-  std::vector<Triangle> t1, t2;
-  loadOBJFile("test/env.obj", p1, t1);
-  loadOBJFile("test/rob.obj", p2, t2);
-
-  std::vector<Transform> transforms; // t0
-  std::vector<Transform> transforms2; // t1
-  BVH_REAL extents[] = {-3000, -3000, 0, 3000, 3000, 3000};
-  BVH_REAL delta_trans[] = {100, 100, 100};
-  int n = 100;
-
-  generateRandomTransform(extents, transforms, transforms2, delta_trans, 0.005 * 2 * 3.1415, n);
-
-  for(unsigned int i = 0; i < transforms.size(); ++i)
-  {
-    //std::cout << i << std::endl;
-    BVH_REAL toc;
-    bool res = CA_linear_Test(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, false, toc);
-
-    BVH_REAL toc2;
-    bool res2 = linear_interp_Test(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, n_dcd_samples, false, toc2);
-
-    BVH_REAL toc3;
-    bool res3 = CA_linear_Test(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, true, toc3);
-
-    BVH_REAL toc4;
-    bool res4 = linear_interp_Test(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, n_dcd_samples, true, toc4);
-
-    BVH_REAL toc5;
-    bool res5 = CA_screw_Test(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, toc5);
-
-    BVH_REAL toc6;
-    bool res6 = screw_interp_Test(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, n_dcd_samples, toc6);
-
-    BVH_REAL toc7;
-    bool res7 = CA_spline_Test(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, toc7);
-
-    BVH_REAL toc8;
-    bool res8 = spline_interp_Test(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, n_dcd_samples, toc8);
-
-
-    if(!(i == 2 || i == 44 || i == 53))
-      continue;
-
-
-    if(res) std::cout << "yes "; else std::cout << "no ";
-    if(res2) std::cout << "yes "; else std::cout << "no ";
-    if(res3) std::cout << "yes "; else std::cout << "no ";
-    if(res4) std::cout << "yes "; else std::cout << "no ";
-    if(res5) std::cout << "yes "; else std::cout << "no ";
-    if(res6) std::cout << "yes "; else std::cout << "no ";
-    if(res7) std::cout << "yes "; else std::cout << "no ";
-    if(res8) std::cout << "yes "; else std::cout << "no ";
-
-    std::cout << std::endl;
-
-    std::cout << toc << " " << toc2 << " " << toc3 << " " << toc4 << " " << toc5 << " " << toc6 << " " << toc7 << " " << toc8 << std::endl;
-    std::cout << std::endl;
-  }
-
-  return 1;
-
-}
-
-
-bool CA_linear_Test(const Transform& tf1, const Transform& tf2,
-                    const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
-                    const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2,
-                    SplitMethodType split_method,
-                    bool use_COM,
-                    BVH_REAL& toc)
-{
-  BVHModel<RSS> m1;
-  BVHModel<RSS> m2;
-
-  m1.bv_splitter.reset(new BVSplitter<RSS>(split_method));
-  m2.bv_splitter.reset(new BVSplitter<RSS>(split_method));
-
-  m1.beginModel();
-  m1.addSubModel(vertices1, triangles1);
-  m1.endModel();
-
-  m2.beginModel();
-  m2.addSubModel(vertices2, triangles2);
-  m2.endModel();
-
-  Matrix3f R2;
-  R2.setIdentity();
-  Vec3f T2;
-
-  std::vector<Contact> contacts;
-
-  Vec3f m1_ref;
-  Vec3f m2_ref;
-
-  if(use_COM)
-  {
-    for(unsigned int i = 0; i < vertices1.size(); ++i)
-      m1_ref += vertices1[i];
-    m1_ref *= (1.0 / vertices1.size());
-
-    for(unsigned int i = 0; i < vertices2.size(); ++i)
-      m2_ref += vertices2[i];
-    m2_ref *= (1.0 / vertices2.size());
-  }
-
-  InterpMotion<RSS> motion1(tf1.R, tf1.T, tf2.R, tf2.T, m1_ref);
-  InterpMotion<RSS> motion2(R2, T2, R2, T2, m2_ref);
-
-  int b = conservativeAdvancement(&m1, &motion1,
-                                  &m2, &motion2,
-                                  1, false, false, contacts, toc);
-
-  return (b > 0);
-}
-
-bool CA_screw_Test(const Transform& tf1, const Transform& tf2,
-                   const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
-                   const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2,
-                   SplitMethodType split_method,
-                   BVH_REAL& toc)
-{
-  BVHModel<RSS> m1;
-  BVHModel<RSS> m2;
-
-  m1.bv_splitter.reset(new BVSplitter<RSS>(split_method));
-  m2.bv_splitter.reset(new BVSplitter<RSS>(split_method));
-
-  m1.beginModel();
-  m1.addSubModel(vertices1, triangles1);
-  m1.endModel();
-
-  m2.beginModel();
-  m2.addSubModel(vertices2, triangles2);
-  m2.endModel();
-
-  Matrix3f R2;
-  R2.setIdentity();
-  Vec3f T2;
-
-  std::vector<Contact> contacts;
-
-  Vec3f m1_ref;
-  Vec3f m2_ref;
-
-
-  ScrewMotion<RSS> motion1(tf1.R, tf1.T, tf2.R, tf2.T);
-  ScrewMotion<RSS> motion2(R2, T2, R2, T2);
-
-  int b = conservativeAdvancement(&m1, &motion1,
-                                  &m2, &motion2,
-                                  1, false, false, contacts, toc);
-
-
-  return (b > 0);
-
-}
-bool linear_interp_Test(const Transform& tf1, const Transform& tf2,
-                     const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
-                     const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2,
-                     SplitMethodType split_method,
-                     unsigned int nsamples,
-                     bool use_COM,
-                     BVH_REAL& toc)
-{
-  BVHModel<RSS> m1;
-  BVHModel<RSS> m2;
-
-  m1.bv_splitter.reset(new BVSplitter<RSS>(split_method));
-  m2.bv_splitter.reset(new BVSplitter<RSS>(split_method));
-
-  m1.beginModel();
-  m1.addSubModel(vertices1, triangles1);
-  m1.endModel();
-
-  m2.beginModel();
-  m2.addSubModel(vertices2, triangles2);
-  m2.endModel();
-
-  Matrix3f R2;
-  R2.setIdentity();
-  Vec3f T2;
-
-  Vec3f m1_ref;
-  Vec3f m2_ref;
-
-  if(use_COM)
-  {
-    for(unsigned int i = 0; i < vertices1.size(); ++i)
-      m1_ref += vertices1[i];
-    m1_ref *= (1.0 / vertices1.size());
-
-    for(unsigned int i = 0; i < vertices2.size(); ++i)
-      m2_ref += vertices2[i];
-    m2_ref *= (1.0 / vertices2.size());
-  }
-
-  InterpMotion<RSS> motion1(tf1.R, tf1.T, tf2.R, tf2.T, m1_ref);
-
-  for(unsigned int i = 0; i <= nsamples; ++i)
-  {
-    BVH_REAL curt = i / (BVH_REAL)nsamples;
-
-    SimpleTransform pose;
-    motion1.integrate(curt);
-    motion1.getCurrentTransform(pose);
-
-    MeshCollisionTraversalNodeRSS node;
-    if(!initialize(node, (const BVHModel<RSS>&)m1, pose, (const BVHModel<RSS>&)m2, SimpleTransform(R2, T2)))
-      std::cout << "initialize error" << std::endl;
-
-    node.enable_statistics = false;
-    node.num_max_contacts = 1;
-    node.exhaustive = false;
-    node.enable_contact = false;
-
-    collide(&node);
-
-    if(node.pairs.size() > 0)
-    {
-      toc = curt;
-      return true;
-    }
-  }
-
-  toc = 1;
-  return false;
-}
-
-bool screw_interp_Test(const Transform& tf1, const Transform& tf2,
-                       const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
-                       const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2,
-                       SplitMethodType split_method,
-                       unsigned int nsamples,
-                       BVH_REAL& toc)
-{
-  BVHModel<RSS> m1;
-  BVHModel<RSS> m2;
-
-  m1.bv_splitter.reset(new BVSplitter<RSS>(split_method));
-  m2.bv_splitter.reset(new BVSplitter<RSS>(split_method));
-
-  m1.beginModel();
-  m1.addSubModel(vertices1, triangles1);
-  m1.endModel();
-
-  m2.beginModel();
-  m2.addSubModel(vertices2, triangles2);
-  m2.endModel();
-
-  Matrix3f R2;
-  R2.setIdentity();
-  Vec3f T2;
-
-
-  Vec3f m1_ref;
-  Vec3f m2_ref;
-
-
-  ScrewMotion<RSS> motion1(tf1.R, tf1.T, tf2.R, tf2.T);
-
-  for(unsigned int i = 0; i <= nsamples; ++i)
-  {
-    BVH_REAL curt = i / (BVH_REAL)nsamples;
-
-    SimpleTransform pose;
-    motion1.integrate(curt);
-    motion1.getCurrentTransform(pose);
-
-    MeshCollisionTraversalNodeRSS node;
-    if(!initialize(node, (const BVHModel<RSS>&)m1, pose, (const BVHModel<RSS>&)m2, SimpleTransform(R2, T2)))
-      std::cout << "initialize error" << std::endl;
-
-    node.enable_statistics = false;
-    node.num_max_contacts = 1;
-    node.exhaustive = false;
-    node.enable_contact = false;
-
-    collide(&node);
-
-    if(node.pairs.size() > 0)
-    {
-      toc = curt;
-      return true;
-    }
-  }
-
-  toc = 1;
-  return false;
-}
-
-
-bool CA_spline_Test(const Transform& tf1, const Transform& tf2,
-                    const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
-                    const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2,
-                    SplitMethodType split_method,
-                    BVH_REAL& toc)
-{
-  BVHModel<RSS> m1;
-  BVHModel<RSS> m2;
-
-  m1.bv_splitter.reset(new BVSplitter<RSS>(split_method));
-  m2.bv_splitter.reset(new BVSplitter<RSS>(split_method));
-
-  m1.beginModel();
-  m1.addSubModel(vertices1, triangles1);
-  m1.endModel();
-
-  m2.beginModel();
-  m2.addSubModel(vertices2, triangles2);
-  m2.endModel();
-
-  ScrewMotion<RSS> motion(tf1.R, tf1.T, tf2.R, tf2.T);
-  Vec3f Td_1[4];
-  Vec3f Rd_1[4];
-  Vec3f Td_2[4];
-  Vec3f Rd_2[4];
-
-  for(int i = 0; i < 4; ++i)
-  {
-    motion.integrate(i / 4.0);
-    Matrix3f R;
-    Vec3f T;
-    motion.getCurrentTransform(R, T);
-    SimpleQuaternion q;
-    q.fromRotation(R);
-    Vec3f axis;
-    BVH_REAL angle;
-    q.toAxisAngle(axis, angle);
-    Td_1[i] = T;
-    Rd_1[i] = axis * angle;
-  }
-
-  for(int i = 0; i < 4; ++i)
-  {
-    Td_2[i].setValue(0);
-    Rd_2[i].setValue(0);
-  }
-
-  SplineMotion<RSS> motion1(Td_1[0], Td_1[1], Td_1[2], Td_1[3],
-                            Rd_1[0], Rd_1[1], Rd_1[2], Rd_1[3]);
-
-  SplineMotion<RSS> motion2(Td_2[0], Td_2[1], Td_2[2], Td_2[3],
-                            Rd_2[0], Rd_2[1], Rd_2[2], Rd_2[3]);
-
-  std::vector<Contact> contacts;
-
-  int b = conservativeAdvancement(&m1, &motion1,
-                                  &m2, &motion2,
-                                  1, false, false, contacts, toc);
-
-
-  return (b > 0);
-
-}
-
-bool spline_interp_Test(const Transform& tf1, const Transform& tf2,
-                        const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
-                        const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2,
-                        SplitMethodType split_method,
-                        unsigned int nsamples,
-                        BVH_REAL& toc)
-{
-  BVHModel<RSS> m1;
-  BVHModel<RSS> m2;
-
-  m1.bv_splitter.reset(new BVSplitter<RSS>(split_method));
-  m2.bv_splitter.reset(new BVSplitter<RSS>(split_method));
-
-  m1.beginModel();
-  m1.addSubModel(vertices1, triangles1);
-  m1.endModel();
-
-  m2.beginModel();
-  m2.addSubModel(vertices2, triangles2);
-  m2.endModel();
-
-
-  ScrewMotion<RSS> motion(tf1.R, tf1.T, tf2.R, tf2.T);
-  Vec3f Td_1[4];
-  Vec3f Rd_1[4];
-  Vec3f Td_2[4];
-  Vec3f Rd_2[4];
-
-  for(int i = 0; i < 4; ++i)
-  {
-    motion.integrate(i / 4.0);
-    Matrix3f R;
-    Vec3f T;
-    motion.getCurrentTransform(R, T);
-    SimpleQuaternion q;
-    q.fromRotation(R);
-    Vec3f axis;
-    BVH_REAL angle;
-    q.toAxisAngle(axis, angle);
-    Td_1[i] = T;
-    Rd_1[i] = axis * angle;
-  }
-
-  for(int i = 0; i < 4; ++i)
-  {
-    Td_2[i].setValue(0);
-    Rd_2[i].setValue(0);
-  }
-
-  SplineMotion<RSS> motion1(Td_1[0], Td_1[1], Td_1[2], Td_1[3],
-                            Rd_1[0], Rd_1[1], Rd_1[2], Rd_1[3]);
-
-  SplineMotion<RSS> motion2(Td_2[0], Td_2[1], Td_2[2], Td_2[3],
-                            Rd_2[0], Rd_2[1], Rd_2[2], Rd_2[3]);
-
-
-  for(unsigned int i = 0; i < nsamples; ++i)
-  {
-    BVH_REAL curt = i / (BVH_REAL)nsamples;
-
-    motion1.integrate(curt);
-    motion2.integrate(curt);
-
-    SimpleTransform tf1, tf2;
-    motion1.getCurrentTransform(tf1);
-    motion2.getCurrentTransform(tf2);
-
-    MeshCollisionTraversalNodeRSS node;
-    if(!initialize(node, (const BVHModel<RSS>&)m1, tf1, (const BVHModel<RSS>&)m2, tf2))
-      std::cout << "initialize error" << std::endl;
-
-    node.enable_statistics = false;
-    node.num_max_contacts = 1;
-    node.exhaustive = false;
-    node.enable_contact = false;
-
-    collide(&node);
-
-    if(node.pairs.size() > 0)
-    {
-      toc = curt;
-      return true;
-    }
-  }
-
-  toc = 1;
-  return false;
-}
diff --git a/trunk/fcl/test/test_core_continuous_collision.cpp b/trunk/fcl/test/test_core_continuous_collision.cpp
deleted file mode 100644
index 455566075cd597b18a77705277fcad93c1993e42..0000000000000000000000000000000000000000
--- a/trunk/fcl/test/test_core_continuous_collision.cpp
+++ /dev/null
@@ -1,296 +0,0 @@
-/*
- * Software License Agreement (BSD License)
- *
- *  Copyright (c) 2011, Willow Garage, Inc.
- *  All rights reserved.
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions
- *  are met:
- *
- *   * Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *   * Redistributions in binary form must reproduce the above
- *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/or other materials provided
- *     with the distribution.
- *   * Neither the name of Willow Garage, Inc. nor the names of its
- *     contributors may be used to endorse or promote products derived
- *     from this software without specific prior written permission.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- *  POSSIBILITY OF SUCH DAMAGE.
- */
-
-/** \author Jia Pan */
-
-#include "fcl/traversal_node_bvhs.h"
-#include "fcl/collision_node.h"
-#include "fcl/simple_setup.h"
-#include "test_core_utility.h"
-#include <gtest/gtest.h>
-#include <boost/timer.hpp>
-
-using namespace fcl;
-
-template<typename BV>
-bool continuous_collide_Test(const Transform& tf1, const Transform& tf2,
-                             const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
-                             const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2,
-                             SplitMethodType split_method,
-                             bool refit_bottomup, bool verbose);
-
-template<typename BV>
-bool discrete_continuous_collide_Test(const Transform& tf1, const Transform& tf2,
-                                      const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
-                                      const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2,
-                                      SplitMethodType split_method,
-                                      unsigned int nsamples,
-                                      bool verbose);
-
-int num_max_contacts = -1;
-bool exhaustive = true;
-bool enable_contact = true;
-unsigned int n_dcd_samples = 10;
-
-
-
-TEST(ccd_test, mesh_mesh_bottomup)
-{
-  double t_ccd = 0;
-  double t_dcd = 0;
-
-  std::vector<Vec3f> p1, p2;
-  std::vector<Triangle> t1, t2;
-  loadOBJFile("test/env.obj", p1, t1);
-  loadOBJFile("test/rob.obj", p2, t2);
-
-  std::vector<Transform> transforms; // t0
-  std::vector<Transform> transforms2; // t1
-  BVH_REAL extents[] = {-3000, -3000, 0, 3000, 3000, 3000};
-  BVH_REAL delta_trans[] = {10, 10, 10};
-  int n = 100;
-  bool verbose = false;
-
-  generateRandomTransform(extents, transforms, transforms2, delta_trans, 0.005 * 2 * 3.1415, n);
-
-  bool res, res2;
-
-  for(unsigned int i = 0; i < transforms.size(); ++i)
-  {
-    boost::timer timer1;
-    res = discrete_continuous_collide_Test<AABB>(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, n_dcd_samples, verbose);
-    t_dcd += timer1.elapsed();
-
-    boost::timer timer2;
-    res2 = continuous_collide_Test<AABB>(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, true, verbose);
-    t_ccd += timer2.elapsed();
-    if(res)
-      ASSERT_TRUE(res == res2);
-    else
-    {
-      if(res2)
-        std::cout << "CCD detects collision missed in DCD" << std::endl;
-    }
-  }
-
-  std::cout << "dcd timing: " << t_dcd << " sec" << std::endl;
-  std::cout << "ccd timing: " << t_ccd << " sec" << std::endl;
-}
-
-
-TEST(ccd_test, mesh_mesh_topdown)
-{
-  double t_ccd = 0;
-  double t_dcd = 0;
-
-  std::vector<Vec3f> p1, p2;
-  std::vector<Triangle> t1, t2;
-  loadOBJFile("test/env.obj", p1, t1);
-  loadOBJFile("test/rob.obj", p2, t2);
-
-  std::vector<Transform> transforms; // t0
-  std::vector<Transform> transforms2; // t1
-  BVH_REAL extents[] = {-3000, -3000, 0, 3000, 3000, 3000};
-  BVH_REAL delta_trans[] = {10, 10, 10};
-  int n = 100;
-  bool verbose = false;
-
-  generateRandomTransform(extents, transforms, transforms2, delta_trans, 0.005 * 2 * 3.1415, n);
-
-  bool res, res2;
-
-  for(unsigned int i = 0; i < transforms.size(); ++i)
-  {
-    boost::timer timer1;
-    res = discrete_continuous_collide_Test<AABB>(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, n_dcd_samples, verbose);
-    t_dcd += timer1.elapsed();
-
-    boost::timer timer2;
-    res2 = continuous_collide_Test<AABB>(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, false, verbose);
-    t_ccd += timer2.elapsed();
-    if(res)
-      ASSERT_TRUE(res == res2);
-    else
-    {
-      if(res2)
-        std::cout << "CCD detects collision missed in DCD" << std::endl;
-    }
-  }
-  std::cout << "dcd timing: " << t_dcd << " sec" << std::endl;
-  std::cout << "ccd timing: " << t_ccd << " sec" << std::endl;
-}
-
-
-int main(int argc, char **argv)
-{
-  testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}
-
-template<typename BV>
-bool continuous_collide_Test(const Transform& tf1, const Transform& tf2,
-                             const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
-                             const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2,
-                             SplitMethodType split_method,
-                             bool refit_bottomup, bool verbose)
-{
-  BVHModel<BV> m1;
-  BVHModel<BV> m2;
-  m1.bv_splitter.reset(new BVSplitter<BV>(split_method));
-  m2.bv_splitter.reset(new BVSplitter<BV>(split_method));
-
-  std::vector<Vec3f> vertices1_new(vertices1.size());
-  for(unsigned int i = 0; i < vertices1_new.size(); ++i)
-  {
-    vertices1_new[i] = tf1.R * vertices1[i] + tf1.T;
-  }
-
-  m1.beginModel();
-  m1.addSubModel(vertices1_new, triangles1);
-  m1.endModel();
-
-  m2.beginModel();
-  m2.addSubModel(vertices2, triangles2);
-  m2.endModel();
-
-  SimpleTransform pose1, pose2;
-
-  MeshCollisionTraversalNode<BV> node0;
-
-  if(!initialize<BV>(node0, m1, pose1, m2, pose2))
-    std::cout << "initialize error" << std::endl;
-
-  node0.enable_statistics = verbose;
-  node0.num_max_contacts = num_max_contacts;
-  node0.exhaustive = exhaustive;
-  node0.enable_contact = enable_contact;
-
-  collide(&node0);
-  if(node0.pairs.size() > 0)
-    return true;
-
-  // update
-  for(unsigned int i = 0; i < vertices1_new.size(); ++i)
-  {
-    vertices1_new[i] = tf2.R * vertices1[i] + tf2.T;
-  }
-
-  m1.beginUpdateModel();
-  m1.updateSubModel(vertices1_new);
-  m1.endUpdateModel(true, refit_bottomup);
-
-  m2.beginUpdateModel();
-  m2.updateSubModel(vertices2);
-  m2.endUpdateModel(true, refit_bottomup);
-
-  SimpleTransform pose11, pose21;
-
-  MeshContinuousCollisionTraversalNode<BV> node;
-
-  if(!initialize<BV>(node, m1, pose11, m2, pose21))
-    std::cout << "initialize error" << std::endl;
-
-  node.enable_statistics = verbose;
-  node.num_max_contacts = num_max_contacts;
-  node.exhaustive = exhaustive;
-  node.enable_contact = enable_contact;
-
-  collide(&node);
-
-  if(node.pairs.size() > 0)
-    return true;
-  else
-    return false;
-}
-
-template<typename BV>
-bool discrete_continuous_collide_Test(const Transform& tf1, const Transform& tf2,
-                                      const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
-                                      const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2,
-                                      SplitMethodType split_method,
-                                      unsigned int nsamples,
-                                      bool verbose)
-{
-  std::vector<Vec3f> vertices1_t1(vertices1.size());
-  for(unsigned int i = 0; i < vertices1_t1.size(); ++i)
-  {
-    vertices1_t1[i] = tf1.R * vertices1[i] + tf1.T;
-  }
-
-  std::vector<Vec3f> vertices1_t2(vertices1.size());
-  for(unsigned int i = 0; i < vertices1_t2.size(); ++i)
-  {
-    vertices1_t2[i] = tf2.R * vertices1[i] + tf2.T;
-  }
-
-  std::vector<Vec3f> vertices1_t(vertices1.size());
-
-  for(unsigned int i = 0; i <= nsamples; ++i)
-  {
-    BVHModel<BV> m1;
-    BVHModel<BV> m2;
-    m1.bv_splitter.reset(new BVSplitter<BV>(split_method));
-    m2.bv_splitter.reset(new BVSplitter<BV>(split_method));
-
-    BVH_REAL delta = i / (BVH_REAL)nsamples;
-
-    for(unsigned int j = 0; j < vertices1_t.size(); ++j)
-      vertices1_t[j] = vertices1_t1[j] * (1 - delta) + vertices1_t2[j] * delta;
-
-    m1.beginModel();
-    m1.addSubModel(vertices1_t, triangles1);
-    m1.endModel();
-
-    m2.beginModel();
-    m2.addSubModel(vertices2, triangles2);
-    m2.endModel();
-
-    SimpleTransform pose1, pose2;
-
-    MeshCollisionTraversalNode<BV> node;
-    if(!initialize<BV>(node, m1, pose1, m2, pose2))
-      std::cout << "initialize error" << std::endl;
-
-    node.enable_statistics = verbose;
-    node.num_max_contacts = num_max_contacts;
-    node.exhaustive = exhaustive;
-    node.enable_contact = enable_contact;
-
-    collide(&node);
-
-    if(node.pairs.size() > 0) return true;
-  }
-
-  return false;
-}
diff --git a/trunk/fcl/test/test_core_deformable_object.cpp b/trunk/fcl/test/test_core_deformable_object.cpp
deleted file mode 100644
index ef208829998d13bdf6ce8c5fbaf8e31f2d3a6c86..0000000000000000000000000000000000000000
--- a/trunk/fcl/test/test_core_deformable_object.cpp
+++ /dev/null
@@ -1,357 +0,0 @@
-/*
- * Software License Agreement (BSD License)
- *
- *  Copyright (c) 2011, Willow Garage, Inc.
- *  All rights reserved.
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions
- *  are met:
- *
- *   * Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *   * Redistributions in binary form must reproduce the above
- *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/or other materials provided
- *     with the distribution.
- *   * Neither the name of Willow Garage, Inc. nor the names of its
- *     contributors may be used to endorse or promote products derived
- *     from this software without specific prior written permission.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- *  POSSIBILITY OF SUCH DAMAGE.
- */
-
-/** \author Jia Pan */
-
-#include "fcl/traversal_node_bvhs.h"
-#include "fcl/collision_node.h"
-#include "fcl/simple_setup.h"
-#include <assimp/assimp.hpp>
-#include <assimp/aiScene.h>
-#include <assimp/aiPostProcess.h>
-#include <cstdlib>
-#include <cstdio>
-#include <boost/timer.hpp>
-
-#define _strdup strdup
-
-using namespace fcl;
-
-unsigned int n_dcd_samples = 10;
-
-bool loadPLYFile(const std::string& fileName, float scalarFactor, std::vector<Vec3f>& vert_list,
-                 std::vector<Triangle>& tri_list);
-
-void lionTest();
-
-void ballTest();
-
-void lionTest_DCD();
-
-void ballTest_DCD();
-
-int main()
-{
-  lionTest();
-  ballTest();
-  lionTest_DCD();
-  ballTest_DCD();
-
-  return 1;
-}
-
-void lionTest()
-{
-  std::vector<Vec3f> p;
-  std::vector<Triangle> t;
-
-
-  std::string base = std::string("test/deformable_data/breakinglion/");
-
-  BVHModel<AABB> m;
-  m.bv_splitter.reset(new BVSplitter<AABB>(SPLIT_METHOD_MEDIAN));
-
-  double timing = 0;
-
-  for(int i = 16; i <= 60; ++i)
-  {
-    char buffer[10];
-    sprintf(buffer, "%d", i);
-    std::string filename = base + std::string(buffer) + std::string(".ply");
-    loadPLYFile(filename, 1.0, p, t);
-    // std::cout << p.size() << " " << t.size() << std::endl;
-
-    boost::timer timer;
-
-    if(i == 16)
-    {
-      m.beginModel();
-      m.addSubModel(p, t);
-      m.endModel();
-    }
-    else
-    {
-      m.beginUpdateModel();
-      m.updateSubModel(p);
-      m.endUpdateModel(true, true);
-    }
-
-    SimpleTransform tf1, tf2;
-
-    MeshCollisionTraversalNode<AABB> node;
-    initialize(node, m, tf1, m, tf2);
-    selfCollide(&node);
-
-    timing += timer.elapsed();
-
-    // if(node.pairs.size() > 0) std::cout << "collision" << std::endl;
-    // else std::cout << "collision free" << std::endl;
-  }
-
-  std::cout << "timing: " << timing << " sec" << std::endl;
-}
-
-
-void lionTest_DCD()
-{
-  std::vector<Vec3f> p1, p2;
-  std::vector<Triangle> t1, t2;
-
-  std::string base = std::string("test/deformable_data/breakinglion/");
-
-
-  double timing = 0;
-
-  for(int i = 17; i <= 60; ++i)
-  {
-    {
-      char buffer[10];
-      sprintf(buffer, "%d", i - 1);
-      std::string filename = base + std::string(buffer) + std::string(".ply");
-      loadPLYFile(filename, 1.0, p1, t1);
-    }
-
-    {
-      char buffer[10];
-      sprintf(buffer, "%d", i);
-      std::string filename = base + std::string(buffer) + std::string(".ply");
-      loadPLYFile(filename, 1.0, p2, t2);
-    }
-
-    std::vector<Vec3f> p(p1.size());
-
-    boost::timer timer;
-
-    for(unsigned int n = 0; n <= n_dcd_samples; ++n)
-    {
-      // std::cout << i << " " << n << std::endl;
-      double delta = n / (double)n_dcd_samples;
-      for(unsigned int j = 0; j < p.size(); ++j)
-      {
-        p[j] = p1[j] * (1 - delta) + p2[j] * delta;
-      }
-
-      BVHModel<AABB> m;
-      m.bv_splitter.reset(new BVSplitter<AABB>(SPLIT_METHOD_MEDIAN));
-
-      m.beginModel();
-      m.addSubModel(p, t1);
-      m.endModel();
-
-      SimpleTransform tf1, tf2;
-
-      MeshCollisionTraversalNode<AABB> node;
-      initialize(node, m, tf1, m, tf2);
-      selfCollide(&node);
-
-      if(node.pairs.size() > 0) break;
-    }
-
-    timing += timer.elapsed();
-
-    //if(node.pairs.size() > 0) std::cout << "collision" << std::endl;
-    //else std::cout << "collision free" << std::endl;
-  }
-
-  std::cout << "timing: " << timing << " sec" << std::endl;
-}
-
-
-void ballTest()
-{
-  std::vector<Vec3f> p;
-  std::vector<Triangle> t;
-
-
-  std::string base = std::string("test/deformable_data/balls16/balls16_");
-
-  BVHModel<AABB> m;
-  m.bv_splitter.reset(new BVSplitter<AABB>(SPLIT_METHOD_MEDIAN));
-
-  double timing = 0;
-
-  for(int i = 0; i <= 75; ++i)
-  {
-    char buffer[10];
-    sprintf(buffer, "%d", i);
-    std::string filename = base + std::string(buffer) + std::string(".ply");
-    loadPLYFile(filename, 1.0, p, t);
-    // std::cout << p.size() << " " << t.size() << std::endl;
-
-    boost::timer timer;
-
-    if(i == 0)
-    {
-      m.beginModel();
-      m.addSubModel(p, t);
-      m.endModel();
-    }
-    else
-    {
-      m.beginUpdateModel();
-      m.updateSubModel(p);
-      m.endUpdateModel(true, true);
-    }
-
-    SimpleTransform tf1, tf2;
-
-    MeshCollisionTraversalNode<AABB> node;
-    initialize(node, m, tf1, m, tf2);
-    selfCollide(&node);
-
-    timing += timer.elapsed();
-
-    // if(node.pairs.size() > 0) std::cout << "collision" << std::endl;
-    // else std::cout << "collision free" << std::endl;
-  }
-
-  std::cout << "timing: " << timing << " sec" << std::endl;
-}
-
-
-void ballTest_DCD()
-{
-  std::vector<Vec3f> p1, p2;
-  std::vector<Triangle> t1, t2;
-
-
-  std::string base = std::string("test/deformable_data/balls16/balls16_");
-
-  double timing = 0;
-
-  for(int i = 1; i <= 75; ++i)
-  {
-    {
-      char buffer[10];
-      sprintf(buffer, "%d", i - 1);
-      std::string filename = base + std::string(buffer) + std::string(".ply");
-      loadPLYFile(filename, 1.0, p1, t1);
-    }
-
-    {
-      char buffer[10];
-      sprintf(buffer, "%d", i);
-      std::string filename = base + std::string(buffer) + std::string(".ply");
-      loadPLYFile(filename, 1.0, p2, t2);
-    }
-
-    std::vector<Vec3f> p(p1.size());
-
-    boost::timer timer;
-
-    for(unsigned int n = 0; n <= n_dcd_samples; ++n)
-    {
-      // std::cout << i << " " << n << std::endl;
-      double delta = n / (double)n_dcd_samples;
-      for(unsigned int j = 0; j < p.size(); ++j)
-      {
-        p[j] = p1[j] * (1 - delta) + p2[j] * delta;
-      }
-
-      BVHModel<AABB> m;
-      m.bv_splitter.reset(new BVSplitter<AABB>(SPLIT_METHOD_MEDIAN));
-
-      m.beginModel();
-      m.addSubModel(p, t1);
-      m.endModel();
-
-      SimpleTransform tf1, tf2;
-
-      MeshCollisionTraversalNode<AABB> node;
-      initialize(node, m, tf1, m, tf2);
-      selfCollide(&node);
-
-      if(node.pairs.size() > 0) break;
-    }
-
-    timing += timer.elapsed();
-
-    //if(node.pairs.size() > 0) std::cout << "collision" << std::endl;
-    //else std::cout << "collision free" << std::endl;
-  }
-
-  std::cout << "timing: " << timing << " sec" << std::endl;
-}
-
-bool loadPLYFile(const std::string& fileName, float scalarFactor, std::vector<Vec3f>& vert_list,
-                 std::vector<Triangle>& tri_list)
-{
-  Assimp::Importer importer;
-
-  const aiScene* scene = importer.ReadFile(fileName,
-        0);
-
-  if(!scene) return false;
-
-  int mNumMeshes = scene->mNumMeshes;
-
-  int numVertices = 0;
-  int numTriangles = 0;
-  for(int i = 0; i < mNumMeshes; ++i)
-  {
-    aiMesh* mesh = scene->mMeshes[i];
-    numVertices += mesh->mNumVertices;
-    numTriangles += mesh->mNumFaces;
-  }
-
-  vert_list.resize(numVertices);
-  tri_list.resize(numTriangles);
-
-
-
-  int v_index = 0;
-  int t_index = 0;
-
-  for(int i = 0; i < mNumMeshes; ++i)
-  {
-    aiMesh* mesh = scene->mMeshes[i];
-
-    for(int j = 0 ; j < mesh->mNumVertices; ++j)
-    {
-      vert_list[v_index + j].setValue(mesh->mVertices[j].x, mesh->mVertices[j].y, mesh->mVertices[j].z);
-    }
-
-
-    for(int j = 0; j < mesh->mNumFaces; ++j)
-    {
-      tri_list[t_index + j].set(mesh->mFaces[j].mIndices[0] + v_index,
-                                mesh->mFaces[j].mIndices[1] + v_index,
-                                mesh->mFaces[j].mIndices[2] + v_index);
-    }
-    v_index += mesh->mNumVertices;
-    t_index += mesh->mNumFaces;
-  }
-
-  return true;
-}
diff --git a/trunk/fcl/test/test_core_distance.cpp b/trunk/fcl/test/test_core_distance.cpp
deleted file mode 100644
index 62a574313f746d9eff70abbdc9741837d6717fcf..0000000000000000000000000000000000000000
--- a/trunk/fcl/test/test_core_distance.cpp
+++ /dev/null
@@ -1,329 +0,0 @@
-/*
- * Software License Agreement (BSD License)
- *
- *  Copyright (c) 2011, Willow Garage, Inc.
- *  All rights reserved.
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions
- *  are met:
- *
- *   * Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *   * Redistributions in binary form must reproduce the above
- *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/or other materials provided
- *     with the distribution.
- *   * Neither the name of Willow Garage, Inc. nor the names of its
- *     contributors may be used to endorse or promote products derived
- *     from this software without specific prior written permission.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- *  POSSIBILITY OF SUCH DAMAGE.
- */
-
-/** \author Jia Pan */
-
-
-#include "fcl/traversal_node_bvhs.h"
-#include "fcl/collision_node.h"
-#include "fcl/simple_setup.h"
-#include "test_core_utility.h"
-#include <gtest/gtest.h>
-#include <boost/timer.hpp>
-
-
-#if USE_PQP
-#include <PQP.h>
-#endif
-
-using namespace fcl;
-
-
-void distance_Test(const Transform& tf,
-                  const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
-                  const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2, SplitMethodType split_method,
-                  int qsize,
-                  DistanceRes& distance_result,
-                  bool verbose = true);
-
-template<typename BV>
-void distance_Test2(const Transform& tf,
-                    const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
-                    const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2, SplitMethodType split_method,
-                    int qsize,
-                    DistanceRes& distance_result,
-                    bool verbose = true);
-
-bool collide_Test_OBB(const Transform& tf,
-                      const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
-                      const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2, SplitMethodType split_method, bool verbose);
-
-
-bool verbose = false;
-BVH_REAL DELTA = 0.001;
-
-inline bool nearlyEqual(const Vec3f& a, const Vec3f& b)
-{
-  if(fabs(a[0] - b[0]) > DELTA) return false;
-  if(fabs(a[1] - b[1]) > DELTA) return false;
-  if(fabs(a[2] - b[2]) > DELTA) return false;
-  return true;
-}
-
-TEST(collision_core, mesh_distance)
-{
-  std::vector<Vec3f> p1, p2;
-  std::vector<Triangle> t1, t2;
-  loadOBJFile("test/env.obj", p1, t1);
-  loadOBJFile("test/rob.obj", p2, t2);
-
-  std::vector<Transform> transforms; // t0
-  std::vector<Transform> transforms2; // t1
-  std::vector<Transform> transforms_ccd; // t0
-  std::vector<Transform> transforms_ccd2; // t1
-  BVH_REAL extents[] = {-3000, -3000, 0, 3000, 3000, 3000};
-  BVH_REAL delta_trans[] = {1, 1, 1};
-  int n = 10;
-
-  generateRandomTransform(extents, transforms, transforms2, delta_trans, 0.005 * 2 * 3.1415, n);
-
-  double dis_time = 0;
-  double col_time = 0;
-
-  DistanceRes res, res_now;
-  for(unsigned int i = 0; i < transforms.size(); ++i)
-  {
-    boost::timer timer_col;
-    collide_Test_OBB(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
-    col_time += timer_col.elapsed();
-
-#if USE_PQP
-    distance_PQP(transforms[i], p1, t1, p2, t2, res, verbose);
-
-    distance_PQP2(transforms[i], p1, t1, p2, t2, res_now, verbose);
-
-    ASSERT_TRUE(fabs(res.distance - res_now.distance) < DELTA);
-    ASSERT_TRUE(fabs(res.distance) < DELTA || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
-#endif
-
-    boost::timer timer_dist;
-#if USE_PQP
-    distance_Test(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, 2, res_now, verbose);
-    ASSERT_TRUE(fabs(res.distance - res_now.distance) < DELTA);
-    ASSERT_TRUE(fabs(res.distance) < DELTA || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
-#else
-    distance_Test(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, 2, res, verbose);
-#endif
-    dis_time += timer_dist.elapsed();
-
-    distance_Test(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, 2, res_now, verbose);
-
-    ASSERT_TRUE(fabs(res.distance - res_now.distance) < DELTA);
-    ASSERT_TRUE(fabs(res.distance) < DELTA || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
-
-    distance_Test(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, 2, res_now, verbose);
-
-    ASSERT_TRUE(fabs(res.distance - res_now.distance) < DELTA);
-    ASSERT_TRUE(fabs(res.distance) < DELTA || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
-
-    distance_Test(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, 20, res_now, verbose);
-
-    ASSERT_TRUE(fabs(res.distance - res_now.distance) < DELTA);
-    ASSERT_TRUE(fabs(res.distance) < DELTA || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
-
-    distance_Test(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, 20, res_now, verbose);
-
-    ASSERT_TRUE(fabs(res.distance - res_now.distance) < DELTA);
-    ASSERT_TRUE(fabs(res.distance) < DELTA || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
-
-    distance_Test(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, 20, res_now, verbose);
-
-    ASSERT_TRUE(fabs(res.distance - res_now.distance) < DELTA);
-    ASSERT_TRUE(fabs(res.distance) < DELTA || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
-
-    distance_Test2<RSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, 2, res_now, verbose);
-
-    ASSERT_TRUE(fabs(res.distance - res_now.distance) < DELTA);
-    ASSERT_TRUE(fabs(res.distance) < DELTA || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
-
-    distance_Test2<RSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, 2, res_now, verbose);
-
-    ASSERT_TRUE(fabs(res.distance - res_now.distance) < DELTA);
-    ASSERT_TRUE(fabs(res.distance) < DELTA || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
-
-    distance_Test2<RSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, 2, res_now, verbose);
-
-    ASSERT_TRUE(fabs(res.distance - res_now.distance) < DELTA);
-    ASSERT_TRUE(fabs(res.distance) < DELTA || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
-
-    distance_Test2<RSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, 20, res_now, verbose);
-
-    ASSERT_TRUE(fabs(res.distance - res_now.distance) < DELTA);
-    ASSERT_TRUE(fabs(res.distance) < DELTA || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
-
-    distance_Test2<RSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, 20, res_now, verbose);
-
-    ASSERT_TRUE(fabs(res.distance - res_now.distance) < DELTA);
-    ASSERT_TRUE(fabs(res.distance) < DELTA || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
-
-    distance_Test2<RSS>(transforms[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, 20, res_now, verbose);
-
-    ASSERT_TRUE(fabs(res.distance - res_now.distance) < DELTA);
-    ASSERT_TRUE(fabs(res.distance) < DELTA || (res.distance > 0 && nearlyEqual(res.p1, res_now.p1) && nearlyEqual(res.p2, res_now.p2)));
-  }
-
-  std::cout << "distance timing: " << dis_time << " sec" << std::endl;
-  std::cout << "collision timing: " << col_time << " sec" << std::endl;
-
-}
-
-
-int main(int argc, char **argv)
-{
-  srand(time(NULL));
-  testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}
-
-void distance_Test(const Transform& tf,
-                   const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
-                   const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2, SplitMethodType split_method,
-                   int qsize,
-                   DistanceRes& distance_result,
-                   bool verbose)
-{
-  BVHModel<RSS> m1;
-  BVHModel<RSS> m2;
-  m1.bv_splitter.reset(new BVSplitter<RSS>(split_method));
-  m2.bv_splitter.reset(new BVSplitter<RSS>(split_method));
-
-
-  m1.beginModel();
-  m1.addSubModel(vertices1, triangles1);
-  m1.endModel();
-
-  m2.beginModel();
-  m2.addSubModel(vertices2, triangles2);
-  m2.endModel();
-
-  MeshDistanceTraversalNodeRSS node;
-
-  if(!initialize(node, (const BVHModel<RSS>&)m1, SimpleTransform(tf.R, tf.T), (const BVHModel<RSS>&)m2, SimpleTransform()))
-    std::cout << "initialize error" << std::endl;
-
-  node.enable_statistics = verbose;
-
-  distance(&node, NULL, qsize);
-
-  // points are in local coordinate, to global coordinate
-  Vec3f p1 = tf.R * node.p1 + tf.T;
-  Vec3f p2 = node.p2;
-
-
-  distance_result.distance = node.min_distance;
-  distance_result.p1 = p1;
-  distance_result.p2 = p2;
-
-  if(verbose)
-  {
-    std::cout << "distance " << node.min_distance << std::endl;
-
-    std::cout << p1[0] << " " << p1[1] << " " << p1[2] << std::endl;
-    std::cout << p2[0] << " " << p2[1] << " " << p2[2] << std::endl;
-    std::cout << node.num_bv_tests << " " << node.num_leaf_tests << std::endl;
-  }
-}
-
-template<typename BV>
-void distance_Test2(const Transform& tf,
-                    const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
-                    const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2, SplitMethodType split_method,
-                    int qsize,
-                    DistanceRes& distance_result,
-                    bool verbose)
-{
-  BVHModel<BV> m1;
-  BVHModel<BV> m2;
-  m1.bv_splitter.reset(new BVSplitter<BV>(split_method));
-  m2.bv_splitter.reset(new BVSplitter<BV>(split_method));
-
-
-  m1.beginModel();
-  m1.addSubModel(vertices1, triangles1);
-  m1.endModel();
-
-  m2.beginModel();
-  m2.addSubModel(vertices2, triangles2);
-  m2.endModel();
-
-  SimpleTransform pose1(tf.R, tf.T), pose2;
-
-  MeshDistanceTraversalNode<BV> node;
-
-  if(!initialize<BV>(node, m1, pose1, m2, pose2))
-    std::cout << "initialize error" << std::endl;
-
-  node.enable_statistics = verbose;
-
-  distance(&node, NULL, qsize);
-
-  distance_result.distance = node.min_distance;
-  distance_result.p1 = node.p1;
-  distance_result.p2 = node.p2;
-
-  if(verbose)
-  {
-    std::cout << "distance " << node.min_distance << std::endl;
-
-    std::cout << node.p1[0] << " " << node.p1[1] << " " << node.p1[2] << std::endl;
-    std::cout << node.p2[0] << " " << node.p2[1] << " " << node.p2[2] << std::endl;
-    std::cout << node.num_bv_tests << " " << node.num_leaf_tests << std::endl;
-  }
-}
-
-
-bool collide_Test_OBB(const Transform& tf,
-                      const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
-                      const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2, SplitMethodType split_method, bool verbose)
-{
-  BVHModel<OBB> m1;
-  BVHModel<OBB> m2;
-  m1.bv_splitter.reset(new BVSplitter<OBB>(split_method));
-  m2.bv_splitter.reset(new BVSplitter<OBB>(split_method));
-
-  m1.beginModel();
-  m1.addSubModel(vertices1, triangles1);
-  m1.endModel();
-
-  m2.beginModel();
-  m2.addSubModel(vertices2, triangles2);
-  m2.endModel();
-
-  MeshCollisionTraversalNodeOBB node;
-  if(!initialize(node, (const BVHModel<OBB>&)m1, SimpleTransform(tf.R, tf.T), (const BVHModel<OBB>&)m2, SimpleTransform()))
-    std::cout << "initialize error" << std::endl;
-
-  node.enable_statistics = verbose;
-  node.num_max_contacts = 1;
-  node.exhaustive = false;
-  node.enable_contact = false;
-
-  collide(&node);
-
-  if(node.pairs.size() > 0)
-    return true;
-  else
-    return false;
-}
-
diff --git a/trunk/fcl/test/test_core_front_list.cpp b/trunk/fcl/test/test_core_front_list.cpp
deleted file mode 100644
index 6f14698919dc08cbd2d1e75e210284197efd1c6c..0000000000000000000000000000000000000000
--- a/trunk/fcl/test/test_core_front_list.cpp
+++ /dev/null
@@ -1,412 +0,0 @@
-/*
- * Software License Agreement (BSD License)
- *
- *  Copyright (c) 2011, Willow Garage, Inc.
- *  All rights reserved.
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions
- *  are met:
- *
- *   * Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *   * Redistributions in binary form must reproduce the above
- *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/or other materials provided
- *     with the distribution.
- *   * Neither the name of Willow Garage, Inc. nor the names of its
- *     contributors may be used to endorse or promote products derived
- *     from this software without specific prior written permission.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- *  POSSIBILITY OF SUCH DAMAGE.
- */
-
-/** \author Jia Pan */
-
-#include "fcl/traversal_node_bvhs.h"
-#include "fcl/collision_node.h"
-#include "fcl/simple_setup.h"
-#include "test_core_utility.h"
-#include <gtest/gtest.h>
-
-using namespace fcl;
-
-template<typename BV>
-bool collide_front_list_Test(const Transform& tf1, const Transform& tf2,
-                             const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
-                             const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2,
-                             SplitMethodType split_method,
-                             bool refit_bottomup, bool verbose);
-
-bool collide_front_list_OBB_Test(const Transform& tf1, const Transform& tf2,
-                                 const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
-                                 const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2,
-                                 SplitMethodType split_method, bool verbose);
-
-bool collide_front_list_RSS_Test(const Transform& tf1, const Transform& tf2,
-                                 const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
-                                 const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2,
-                                 SplitMethodType split_method, bool verbose);
-
-template<typename BV>
-bool collide_Test(const Transform& tf,
-                  const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
-                  const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2, SplitMethodType split_method, bool verbose);
-
-// TODO: randomly still have some runtime error
-TEST(collision_test, front_list)
-{
-  //srand(time(NULL));
-  std::vector<Vec3f> p1, p2;
-  std::vector<Triangle> t1, t2;
-  loadOBJFile("test/env.obj", p1, t1);
-  loadOBJFile("test/rob.obj", p2, t2);
-
-  std::vector<Transform> transforms; // t0
-  std::vector<Transform> transforms2; // t1
-  BVH_REAL extents[] = {-3000, -3000, 0, 3000, 3000, 3000};
-  BVH_REAL delta_trans[] = {1, 1, 1};
-  int n = 10;
-  bool verbose = false;
-
-  generateRandomTransform(extents, transforms, transforms2, delta_trans, 0.005 * 2 * 3.1415, n);
-
-  bool res, res2;
-
-  for(unsigned int i = 0; i < transforms.size(); ++i)
-  {
-    res = collide_Test<AABB>(transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
-    res2 = collide_front_list_Test<AABB>(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, false, verbose);
-    ASSERT_TRUE(res == res2);
-    res = collide_Test<AABB>(transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
-    res2 = collide_front_list_Test<AABB>(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, false, verbose);
-    ASSERT_TRUE(res == res2);
-    res = collide_Test<AABB>(transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);
-    res2 = collide_front_list_Test<AABB>(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, false, verbose);
-    ASSERT_TRUE(res == res2);
-  }
-
-  for(unsigned int i = 0; i < transforms.size(); ++i)
-  {
-    res = collide_Test<OBB>(transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
-    res2 = collide_front_list_Test<OBB>(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, false, verbose);
-    ASSERT_TRUE(res == res2);
-    res = collide_Test<OBB>(transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
-    res2 = collide_front_list_Test<OBB>(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, false, verbose);
-    ASSERT_TRUE(res == res2);
-    res = collide_Test<OBB>(transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);
-    res2 = collide_front_list_Test<OBB>(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, false, verbose);
-    ASSERT_TRUE(res == res2);
-  }
-
-  for(unsigned int i = 0; i < transforms.size(); ++i)
-  {
-    res = collide_Test<RSS>(transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
-    res2 = collide_front_list_Test<RSS>(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, false, verbose);
-    ASSERT_TRUE(res == res2);
-    res = collide_Test<RSS>(transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
-    res2 = collide_front_list_Test<RSS>(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, false, verbose);
-    ASSERT_TRUE(res == res2);
-    res = collide_Test<RSS>(transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);
-    res2 = collide_front_list_Test<RSS>(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, false, verbose);
-    ASSERT_TRUE(res == res2);
-  }
-
-  for(unsigned int i = 0; i < transforms.size(); ++i)
-  {
-    res = collide_Test<KDOP<16> >(transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
-    res2 = collide_front_list_Test<KDOP<16> >(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, false, verbose);
-    ASSERT_TRUE(res == res2);
-    res = collide_Test<KDOP<16> >(transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
-    res2 = collide_front_list_Test<KDOP<16> >(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, false, verbose);
-    ASSERT_TRUE(res == res2);
-    res = collide_Test<KDOP<16> >(transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);
-    res2 = collide_front_list_Test<KDOP<16> >(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, false, verbose);
-    ASSERT_TRUE(res == res2);
-  }
-
-  for(unsigned int i = 0; i < transforms.size(); ++i)
-  {
-    res = collide_Test<KDOP<18> >(transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
-    res2 = collide_front_list_Test<KDOP<18> >(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, false, verbose);
-    ASSERT_TRUE(res == res2);
-    res = collide_Test<KDOP<18> >(transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
-    res2 = collide_front_list_Test<KDOP<18> >(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, false, verbose);
-    ASSERT_TRUE(res == res2);
-    res = collide_Test<KDOP<18> >(transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);
-    res2 = collide_front_list_Test<KDOP<18> >(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, false, verbose);
-    ASSERT_TRUE(res == res2);
-  }
-
-  for(unsigned int i = 0; i < transforms.size(); ++i)
-  {
-    res = collide_Test<KDOP<24> >(transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
-    res2 = collide_front_list_Test<KDOP<24> >(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, false, verbose);
-    ASSERT_TRUE(res == res2);
-    res = collide_Test<KDOP<24> >(transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
-    res2 = collide_front_list_Test<KDOP<24> >(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, false, verbose);
-    ASSERT_TRUE(res == res2);
-    res = collide_Test<KDOP<24> >(transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);
-    res2 = collide_front_list_Test<KDOP<24> >(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, false, verbose);
-    ASSERT_TRUE(res == res2);
-  }
-
-  for(unsigned int i = 0; i < transforms.size(); ++i)
-  {
-    res = collide_Test<OBB>(transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
-    res2 = collide_front_list_OBB_Test(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
-    ASSERT_TRUE(res == res2);
-    res = collide_Test<OBB>(transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
-    res2 = collide_front_list_OBB_Test(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
-    ASSERT_TRUE(res == res2);
-    res = collide_Test<OBB>(transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);
-    res2 = collide_front_list_OBB_Test(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);
-    ASSERT_TRUE(res == res2);
-  }
-
-  for(unsigned int i = 0; i < transforms.size(); ++i)
-  {
-    res = collide_Test<RSS>(transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
-    res2 = collide_front_list_RSS_Test(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEDIAN, verbose);
-    ASSERT_TRUE(res == res2);
-    res = collide_Test<RSS>(transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
-    res2 = collide_front_list_RSS_Test(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_MEAN, verbose);
-    ASSERT_TRUE(res == res2);
-    res = collide_Test<RSS>(transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);
-    res2 = collide_front_list_RSS_Test(transforms[i], transforms2[i], p1, t1, p2, t2, SPLIT_METHOD_BV_CENTER, verbose);
-    ASSERT_TRUE(res == res2);
-  }
-}
-
-
-int main(int argc, char **argv)
-{
-  testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}
-
-
-template<typename BV>
-bool collide_front_list_Test(const Transform& tf1, const Transform& tf2,
-                             const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
-                             const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2,
-                             SplitMethodType split_method,
-                             bool refit_bottomup, bool verbose)
-{
-  BVHModel<BV> m1;
-  BVHModel<BV> m2;
-  m1.bv_splitter.reset(new BVSplitter<BV>(split_method));
-  m2.bv_splitter.reset(new BVSplitter<BV>(split_method));
-
-  BVHFrontList front_list;
-
-
-  std::vector<Vec3f> vertices1_new(vertices1.size());
-  for(unsigned int i = 0; i < vertices1_new.size(); ++i)
-  {
-    vertices1_new[i] = tf1.R * vertices1[i] + tf1.T;
-  }
-
-  m1.beginModel();
-  m1.addSubModel(vertices1_new, triangles1);
-  m1.endModel();
-
-  m2.beginModel();
-  m2.addSubModel(vertices2, triangles2);
-  m2.endModel();
-
-  SimpleTransform pose1, pose2;
-
-  MeshCollisionTraversalNode<BV> node;
-
-  if(!initialize<BV>(node, m1, pose1, m2, pose2))
-    std::cout << "initialize error" << std::endl;
-
-  node.enable_statistics = verbose;
-  node.num_max_contacts = std::numeric_limits<int>::max(); // front technique needs all the contacts;
-  node.exhaustive = true;
-  node.enable_contact = false;
-
-  collide(&node, &front_list);
-
-  if(verbose) std::cout << "front list size " << front_list.size() << std::endl;
-
-
-  // update the mesh
-  for(unsigned int i = 0; i < vertices1.size(); ++i)
-  {
-    vertices1_new[i] = tf2.R * vertices1[i] + tf2.T;
-  }
-
-  m1.beginReplaceModel();
-  m1.replaceSubModel(vertices1_new);
-  m1.endReplaceModel(true, refit_bottomup);
-
-  m2.beginReplaceModel();
-  m2.replaceSubModel(vertices2);
-  m2.endReplaceModel(true, refit_bottomup);
-
-  node.pairs.clear();
-  collide(&node, &front_list);
-
-  if(node.pairs.size() > 0)
-    return true;
-  else
-    return false;
-}
-
-
-bool collide_front_list_OBB_Test(const Transform& tf1, const Transform& tf2,
-                                 const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
-                                 const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2,
-                                 SplitMethodType split_method, bool verbose)
-{
-  BVHModel<OBB> m1;
-  BVHModel<OBB> m2;
-  m1.bv_splitter.reset(new BVSplitter<OBB>(split_method));
-  m2.bv_splitter.reset(new BVSplitter<OBB>(split_method));
-
-  BVHFrontList front_list;
-
-  m1.beginModel();
-  m1.addSubModel(vertices1, triangles1);
-  m1.endModel();
-
-  m2.beginModel();
-  m2.addSubModel(vertices2, triangles2);
-  m2.endModel();
-
-  SimpleTransform pose1(tf1.R, tf1.T), pose2;
-
-  MeshCollisionTraversalNodeOBB node;
-
-  if(!initialize(node, (const BVHModel<OBB>&)m1, pose1, (const BVHModel<OBB>&)m2, pose2))
-    std::cout << "initialize error" << std::endl;
-
-  node.enable_statistics = verbose;
-  node.num_max_contacts = std::numeric_limits<int>::max(); // front technique needs all the contacts;
-  node.exhaustive = true;
-  node.enable_contact = false;
-
-  collide(&node, &front_list);
-
-  if(verbose) std::cout << "front list size " << front_list.size() << std::endl;
-
-
-  // update the mesh
-  pose1.setTransform(tf2.R, tf2.T);
-  if(!initialize(node, (const BVHModel<OBB>&)m1, pose1, (const BVHModel<OBB>&)m2, pose2))
-    std::cout << "initialize error" << std::endl;
-
-  node.pairs.clear();
-  collide(&node, &front_list);
-
-  if(node.pairs.size() > 0)
-    return true;
-  else
-    return false;
-}
-
-
-bool collide_front_list_RSS_Test(const Transform& tf1, const Transform& tf2,
-                                 const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
-                                 const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2,
-                                 SplitMethodType split_method, bool verbose)
-{
-  BVHModel<RSS> m1;
-  BVHModel<RSS> m2;
-  m1.bv_splitter.reset(new BVSplitter<RSS>(split_method));
-  m2.bv_splitter.reset(new BVSplitter<RSS>(split_method));
-
-  BVHFrontList front_list;
-
-  m1.beginModel();
-  m1.addSubModel(vertices1, triangles1);
-  m1.endModel();
-
-  m2.beginModel();
-  m2.addSubModel(vertices2, triangles2);
-  m2.endModel();
-
-  SimpleTransform pose1(tf1.R, tf1.T), pose2;
-
-  MeshCollisionTraversalNodeRSS node;
-
-  if(!initialize(node, (const BVHModel<RSS>&)m1, pose1, (const BVHModel<RSS>&)m2, pose2))
-    std::cout << "initialize error" << std::endl;
-
-  node.enable_statistics = verbose;
-  node.num_max_contacts = std::numeric_limits<int>::max(); // front technique needs all the contacts;
-  node.exhaustive = true;
-  node.enable_contact = false;
-
-  collide(&node, &front_list);
-
-  if(verbose) std::cout << "front list size " << front_list.size() << std::endl;
-
-
-  // update the mesh
-  pose1.setTransform(tf2.R, tf2.T);
-  if(!initialize(node, (const BVHModel<RSS>&)m1, pose1, (const BVHModel<RSS>&)m2, pose2))
-    std::cout << "initialize error" << std::endl;
-
-  node.pairs.clear();
-  collide(&node, &front_list);
-
-  if(node.pairs.size() > 0)
-    return true;
-  else
-    return false;
-}
-
-
-template<typename BV>
-bool collide_Test(const Transform& tf,
-                  const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
-                  const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2, SplitMethodType split_method, bool verbose)
-{
-  BVHModel<BV> m1;
-  BVHModel<BV> m2;
-  m1.bv_splitter.reset(new BVSplitter<BV>(split_method));
-  m2.bv_splitter.reset(new BVSplitter<BV>(split_method));
-
-  m1.beginModel();
-  m1.addSubModel(vertices1, triangles1);
-  m1.endModel();
-
-  m2.beginModel();
-  m2.addSubModel(vertices2, triangles2);
-  m2.endModel();
-
-  SimpleTransform pose1(tf.R, tf.T), pose2;
-
-  MeshCollisionTraversalNode<BV> node;
-
-  if(!initialize<BV>(node, m1, pose1, m2, pose2))
-    std::cout << "initialize error" << std::endl;
-
-  node.enable_statistics = verbose;
-  node.num_max_contacts = std::numeric_limits<int>::max();
-  node.exhaustive = true;
-  node.enable_contact = false;
-
-  collide(&node);
-
-
-  if(node.pairs.size() > 0)
-    return true;
-  else
-    return false;
-}
-
diff --git a/trunk/fcl/test/test_core_geometric_shapes.cpp b/trunk/fcl/test/test_core_geometric_shapes.cpp
deleted file mode 100644
index 8a44b8a9fa0887db2d63b2696354c3ac2620f1fb..0000000000000000000000000000000000000000
--- a/trunk/fcl/test/test_core_geometric_shapes.cpp
+++ /dev/null
@@ -1,500 +0,0 @@
-/*
- * Software License Agreement (BSD License)
- *
- *  Copyright (c) 2011, Willow Garage, Inc.
- *  All rights reserved.
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions
- *  are met:
- *
- *   * Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *   * Redistributions in binary form must reproduce the above
- *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/or other materials provided
- *     with the distribution.
- *   * Neither the name of Willow Garage, Inc. nor the names of its
- *     contributors may be used to endorse or promote products derived
- *     from this software without specific prior written permission.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- *  POSSIBILITY OF SUCH DAMAGE.
- */
-
-/** \author Jia Pan */
-
-
-#include "fcl/geometric_shapes_intersect.h"
-#include "fcl/collision.h"
-#include "test_core_utility.h"
-#include <gtest/gtest.h>
-
-using namespace fcl;
-
-BVH_REAL extents [6] = {0, 0, 0, 10, 10, 10};
-
-TEST(shapeIntersection, spheresphere)
-{
-  Sphere s1(20);
-  Sphere s2(10);
-
-  Transform transform;
-  generateRandomTransform(extents, transform);
-  Transform identity;
-
-  std::vector<Contact> contacts;
-  bool res;
-
-  s2.setLocalTranslation(Vec3f(40, 0, 0));
-  res = shapeIntersect(s1, SimpleTransform(), s2, SimpleTransform());
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-
-  res = shapeIntersect(s1, SimpleTransform(transform.R, transform.T), s2, SimpleTransform(transform.R, transform.T));
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(transform.R, transform.T), &s2, SimpleTransform(transform.R, transform.T), 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-
-  s2.setLocalTranslation(Vec3f(30, 0, 0));
-  res = shapeIntersect(s1, SimpleTransform(), s2, SimpleTransform());
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-
-  res = shapeIntersect(s1, SimpleTransform(transform.R, transform.T), s2, SimpleTransform(transform.R, transform.T));
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(transform.R, transform.T), &s2, SimpleTransform(transform.R, transform.T), 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-
-  s2.setLocalTranslation(Vec3f(29.9, 0, 0));
-  res = shapeIntersect(s1, SimpleTransform(), s2, SimpleTransform());
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-
-  res = shapeIntersect(s1, SimpleTransform(transform.R, transform.T), s2, SimpleTransform(transform.R, transform.T));
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(transform.R, transform.T), &s2, SimpleTransform(transform.R, transform.T), 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-
-  s2.setLocalTranslation(Vec3f(0, 0, 0));
-  res = shapeIntersect(s1, SimpleTransform(), s2, SimpleTransform());
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-
-  res = shapeIntersect(s1, SimpleTransform(transform.R, transform.T), s2, SimpleTransform(transform.R, transform.T));
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(transform.R, transform.T), &s2, SimpleTransform(transform.R, transform.T), 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-
-  s2.setLocalTranslation(Vec3f(-29.9, 0, 0));
-  res = shapeIntersect(s1, SimpleTransform(), s2, SimpleTransform());
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-
-  res = shapeIntersect(s1, SimpleTransform(transform.R, transform.T), s2, SimpleTransform(transform.R, transform.T));
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(transform.R, transform.T), &s2, SimpleTransform(transform.R, transform.T), 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-
-  s2.setLocalTranslation(Vec3f(-30, 0, 0));
-  res = shapeIntersect(s1, SimpleTransform(), s2, SimpleTransform());
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-
-  res = shapeIntersect(s1, SimpleTransform(transform.R, transform.T), s2, SimpleTransform(transform.R, transform.T));
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(transform.R, transform.T), &s2, SimpleTransform(transform.R, transform.T), 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-}
-
-TEST(shapeIntersection, boxbox)
-{
-  Box s1(20, 40, 50);
-  Box s2(10, 10, 10);
-
-  Transform transform;
-  generateRandomTransform(extents, transform);
-  Transform identity;
-
-  std::vector<Contact> contacts;
-
-  bool res;
-
-  res = shapeIntersect(s1, SimpleTransform(), s2, SimpleTransform());
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-
-  res = shapeIntersect(s1, SimpleTransform(transform.R, transform.T), s2, SimpleTransform(transform.R, transform.T));
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(transform.R, transform.T), &s2, SimpleTransform(transform.R, transform.T), 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-
-  s2.setLocalTranslation(Vec3f(15, 0, 0));
-  res = shapeIntersect(s1, SimpleTransform(), s2, SimpleTransform());
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-
-  res = shapeIntersect(s1, SimpleTransform(transform.R, transform.T), s2, SimpleTransform(transform.R, transform.T));
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(transform.R, transform.T), &s2, SimpleTransform(transform.R, transform.T), 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-
-  SimpleQuaternion q;
-  q.fromAxisAngle(Vec3f(0, 0, 1), (BVH_REAL)3.140 / 6);
-  Matrix3f R;
-  q.toRotation(R);
-  s2.setLocalRotation(R);
-  res = shapeIntersect(s1, SimpleTransform(), s2, SimpleTransform());
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-
-  res = shapeIntersect(s1, SimpleTransform(transform.R, transform.T), s2, SimpleTransform(transform.R, transform.T));
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(transform.R, transform.T), &s2, SimpleTransform(transform.R, transform.T), 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-}
-
-TEST(shapeIntersection, spherebox)
-{
-  Sphere s1(20);
-  Box s2(5, 5, 5);
-
-  Transform transform;
-  generateRandomTransform(extents, transform);
-  Transform identity;
-
-  std::vector<Contact> contacts;
-
-  bool res;
-
-  res = shapeIntersect(s1, SimpleTransform(), s2, SimpleTransform());
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-
-  res = shapeIntersect(s1, SimpleTransform(transform.R, transform.T), s2, SimpleTransform(transform.R, transform.T));
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(transform.R, transform.T), &s2, SimpleTransform(transform.R, transform.T), 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-
-  s2.setLocalTranslation(Vec3f(22.5, 0, 0));
-  res = shapeIntersect(s1, SimpleTransform(), s2, SimpleTransform());
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-
-  res = shapeIntersect(s1, SimpleTransform(transform.R, transform.T), s2, SimpleTransform(transform.R, transform.T));
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(transform.R, transform.T), &s2, SimpleTransform(transform.R, transform.T), 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-
-  s2.setLocalTranslation(Vec3f(22.4, 0, 0));
-  res = shapeIntersect(s1, SimpleTransform(), s2, SimpleTransform());
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-
-  res = shapeIntersect(s1, SimpleTransform(transform.R, transform.T), s2, SimpleTransform(transform.R, transform.T));
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(transform.R, transform.T), &s2, SimpleTransform(transform.R, transform.T), 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-}
-
-TEST(shapeIntersection, cylindercylinder)
-{
-  Cylinder s1(5, 10);
-  Cylinder s2(5, 10);
-
-  Transform transform;
-  generateRandomTransform(extents, transform);
-  Transform identity;
-
-  std::vector<Contact> contacts;
-
-  bool res;
-
-  res = shapeIntersect(s1, SimpleTransform(), s2, SimpleTransform());
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-
-  res = shapeIntersect(s1, SimpleTransform(transform.R, transform.T), s2, SimpleTransform(transform.R, transform.T));
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(transform.R, transform.T), &s2, SimpleTransform(transform.R, transform.T), 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-
-  s2.setLocalTranslation(Vec3f(9.9, 0, 0));
-  res = shapeIntersect(s1, SimpleTransform(), s2, SimpleTransform());
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-
-  res = shapeIntersect(s1, SimpleTransform(transform.R, transform.T), s2, SimpleTransform(transform.R, transform.T));
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(transform.R, transform.T), &s2, SimpleTransform(transform.R, transform.T), 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-
-  s2.setLocalTranslation(Vec3f(10, 0, 0));
-  res = shapeIntersect(s1, SimpleTransform(), s2, SimpleTransform());
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-
-  res = shapeIntersect(s1, SimpleTransform(transform.R, transform.T), s2, SimpleTransform(transform.R, transform.T));
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(transform.R, transform.T), &s2, SimpleTransform(transform.R, transform.T), 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-}
-
-TEST(shapeIntersection, conecone)
-{
-  Cone s1(5, 10);
-  Cone s2(5, 10);
-
-  Transform transform;
-  generateRandomTransform(extents, transform);
-  Transform identity;
-
-  std::vector<Contact> contacts;
-
-  bool res;
-
-  res = shapeIntersect(s1, SimpleTransform(), s2, SimpleTransform());
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-
-  res = shapeIntersect(s1, SimpleTransform(transform.R, transform.T), s2, SimpleTransform(transform.R, transform.T));
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(transform.R, transform.T), &s2, SimpleTransform(transform.R, transform.T), 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-
-  s2.setLocalTranslation(Vec3f(9.9, 0, 0));
-  res = shapeIntersect(s1, SimpleTransform(), s2, SimpleTransform());
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-
-  res = shapeIntersect(s1, SimpleTransform(transform.R, transform.T), s2, SimpleTransform(transform.R, transform.T));
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(transform.R, transform.T), &s2, SimpleTransform(transform.R, transform.T), 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-
-  s2.setLocalTranslation(Vec3f(10.001, 0, 0));
-  res = shapeIntersect(s1, SimpleTransform(), s2, SimpleTransform());
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-
-  res = shapeIntersect(s1, SimpleTransform(transform.R, transform.T), s2, SimpleTransform(transform.R, transform.T));
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(transform.R, transform.T), &s2, SimpleTransform(transform.R, transform.T), 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-
-  s2.setLocalTranslation(Vec3f(0, 0, 9.9));
-  res = shapeIntersect(s1, SimpleTransform(), s2, SimpleTransform());
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-
-  res = shapeIntersect(s1, SimpleTransform(transform.R, transform.T), s2, SimpleTransform(transform.R, transform.T));
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(transform.R, transform.T), &s2, SimpleTransform(transform.R, transform.T), 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-
-  s2.setLocalTranslation(Vec3f(0, 0, 10));
-  res = shapeIntersect(s1, SimpleTransform(), s2, SimpleTransform());
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-
-  res = shapeIntersect(s1, SimpleTransform(transform.R, transform.T), s2, SimpleTransform(transform.R, transform.T));
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(transform.R, transform.T), &s2, SimpleTransform(transform.R, transform.T), 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-}
-
-TEST(shapeIntersection, conecylinder)
-{
-  Cylinder s1(5, 10);
-  Cone s2(5, 10);
-
-  Transform transform;
-  generateRandomTransform(extents, transform);
-  Transform identity;
-
-  std::vector<Contact> contacts;
-
-  bool res;
-
-  res = shapeIntersect(s1, SimpleTransform(), s2, SimpleTransform());
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-
-  res = shapeIntersect(s1, SimpleTransform(transform.R, transform.T), s2, SimpleTransform(transform.R, transform.T));
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(transform.R, transform.T), &s2, SimpleTransform(transform.R, transform.T), 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-
-  s2.setLocalTranslation(Vec3f(9.9, 0, 0));
-  res = shapeIntersect(s1, SimpleTransform(), s2, SimpleTransform());
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-
-  res = shapeIntersect(s1, SimpleTransform(transform.R, transform.T), s2, SimpleTransform(transform.R, transform.T));
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(transform.R, transform.T), &s2, SimpleTransform(transform.R, transform.T), 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-
-  s2.setLocalTranslation(Vec3f(10, 0, 0));
-  res = shapeIntersect(s1, SimpleTransform(), s2, SimpleTransform());
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-
-  res = shapeIntersect(s1, SimpleTransform(transform.R, transform.T), s2, SimpleTransform(transform.R, transform.T));
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(transform.R, transform.T), &s2, SimpleTransform(transform.R, transform.T), 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-
-  s2.setLocalTranslation(Vec3f(0, 0, 9.9));
-  res = shapeIntersect(s1, SimpleTransform(), s2, SimpleTransform());
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-
-  res = shapeIntersect(s1, SimpleTransform(transform.R, transform.T), s2, SimpleTransform(transform.R, transform.T));
-  ASSERT_TRUE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(transform.R, transform.T), &s2, SimpleTransform(transform.R, transform.T), 1, false, false, contacts) > 0);
-  ASSERT_TRUE(res);
-
-  s2.setLocalTranslation(Vec3f(0, 0, 10));
-  res = shapeIntersect(s1, SimpleTransform(), s2, SimpleTransform());
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(), &s2, SimpleTransform(), 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-
-  res = shapeIntersect(s1, SimpleTransform(transform.R, transform.T), s2, SimpleTransform(transform.R, transform.T));
-  ASSERT_FALSE(res);
-  contacts.clear();
-  res = (collide(&s1, SimpleTransform(transform.R, transform.T), &s2, SimpleTransform(transform.R, transform.T), 1, false, false, contacts) > 0);
-  ASSERT_FALSE(res);
-}
-
-TEST(shapeIntersection, spheretriangle)
-{
-  Sphere s(10);
-  Vec3f t[3];
-  t[0].setValue(20, 0, 0);
-  t[1].setValue(-20, 0, 0);
-  t[2].setValue(0, 20, 0);
-
-  Transform transform;
-  generateRandomTransform(extents, transform);
-  Transform identity;
-
-  bool res;
-
-  res = shapeTriangleIntersect(s, SimpleTransform(), t[0], t[1], t[2]);
-  ASSERT_TRUE(res);
-
-  res =  shapeTriangleIntersect(s, SimpleTransform(transform.R, transform.T), t[0], t[1], t[2], transform.R, transform.T);
-  ASSERT_TRUE(res);
-
-  t[0].setValue(30, 0, 0);
-  t[1].setValue(10, -20, 0);
-  t[2].setValue(10, 20, 0);
-  res = shapeTriangleIntersect(s, SimpleTransform(), t[0], t[1], t[2]);
-  ASSERT_FALSE(res);
-
-  res =  shapeTriangleIntersect(s, SimpleTransform(transform.R, transform.T), t[0], t[1], t[2], transform.R, transform.T);
-  ASSERT_FALSE(res);
-
-  t[0].setValue(30, 0, 0);
-  t[1].setValue(9.9, -20, 0);
-  t[2].setValue(9.9, 20, 0);
-  res = shapeTriangleIntersect(s, SimpleTransform(), t[0], t[1], t[2]);
-  ASSERT_TRUE(res);
-
-  res =  shapeTriangleIntersect(s, SimpleTransform(transform.R, transform.T), t[0], t[1], t[2], transform.R, transform.T);
-  ASSERT_TRUE(res);
-}
-
-
-
-
-int main(int argc, char **argv)
-{
-  testing::InitGoogleTest(&argc, argv);
-  return RUN_ALL_TESTS();
-}
diff --git a/trunk/fcl/test/test_core_utility.h b/trunk/fcl/test/test_core_utility.h
deleted file mode 100644
index 693b6f505e148594408cadd683740ebf57123792..0000000000000000000000000000000000000000
--- a/trunk/fcl/test/test_core_utility.h
+++ /dev/null
@@ -1,665 +0,0 @@
-/*
- * Software License Agreement (BSD License)
- *
- *  Copyright (c) 2011, Willow Garage, Inc.
- *  All rights reserved.
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions
- *  are met:
- *
- *   * Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *   * Redistributions in binary form must reproduce the above
- *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/or other materials provided
- *     with the distribution.
- *   * Neither the name of Willow Garage, Inc. nor the names of its
- *     contributors may be used to endorse or promote products derived
- *     from this software without specific prior written permission.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- *  POSSIBILITY OF SUCH DAMAGE.
- */
-
-/** \author Jia Pan */
-
-
-#ifndef FCL_TEST_CORE_UTILITY_H
-#define FCL_TEST_CORE_UTILITY_H
-
-#include "fcl/vec_3f.h"
-#include "fcl/matrix_3f.h"
-#include "fcl/primitive.h"
-#include <cstdio>
-#include <vector>
-#include <iostream>
-#include <string.h>
-using namespace fcl;
-
-#if USE_PQP
-#include <PQP.h>
-#endif
-
-struct Transform
-{
-  Matrix3f R;
-  Vec3f T;
-
-  Transform()
-  {
-    R.setIdentity();
-  }
-};
-
-
-#if USE_PQP
-
-struct CollisionPairComp_PQP
-{
-  bool operator()(const CollisionPair& a, const CollisionPair& b)
-  {
-    if(a.id1 == b.id1)
-      return a.id2 < b.id2;
-    return a.id1 < b.id1;
-  }
-};
-
-inline void sortCollisionPair_PQP(CollisionPair* pairs, int n)
-{
-  std::vector<CollisionPair> pair_array(n);
-  for(int i = 0; i < n; ++i)
-    pair_array[i] = pairs[i];
-
-  std::sort(pair_array.begin(), pair_array.end(), CollisionPairComp_PQP());
-
-  for(int i = 0; i < n; ++i)
-    pairs[i] = pair_array[i];
-}
-
-inline bool collide_PQP(const Transform& tf,
-                        const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
-                        const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2,
-                        std::vector<std::pair<int, int> >& results,
-                        bool verbose = true)
-{
-  PQP_Model m1, m2;
-
-  m1.BeginModel();
-  for(unsigned int i = 0; i < triangles1.size(); ++i)
-  {
-    const Triangle& t = triangles1[i];
-    const Vec3f& p1_ = vertices1[t[0]];
-    const Vec3f& p2_ = vertices1[t[1]];
-    const Vec3f& p3_ = vertices1[t[2]];
-
-    Vec3f p1 = tf.R * p1_ + tf.T;
-    Vec3f p2 = tf.R * p2_ + tf.T;
-    Vec3f p3 = tf.R * p3_ + tf.T;
-
-    PQP_REAL q1[3];
-    PQP_REAL q2[3];
-    PQP_REAL q3[3];
-
-    q1[0] = p1[0]; q1[1] = p1[1]; q1[2] = p1[2];
-    q2[0] = p2[0]; q2[1] = p2[1]; q2[2] = p2[2];
-    q3[0] = p3[0]; q3[1] = p3[1]; q3[2] = p3[2];
-
-    m1.AddTri(q1, q2, q3, i);
-  }
-
-  m1.EndModel();
-
-
-  m2.BeginModel();
-  for(unsigned int i = 0; i < triangles2.size(); ++i)
-  {
-    const Triangle& t = triangles2[i];
-    const Vec3f& p1 = vertices2[t[0]];
-    const Vec3f& p2 = vertices2[t[1]];
-    const Vec3f& p3 = vertices2[t[2]];
-
-    PQP_REAL q1[3];
-    PQP_REAL q2[3];
-    PQP_REAL q3[3];
-
-    q1[0] = p1[0]; q1[1] = p1[1]; q1[2] = p1[2];
-    q2[0] = p2[0]; q2[1] = p2[1]; q2[2] = p2[2];
-    q3[0] = p3[0]; q3[1] = p3[1]; q3[2] = p3[2];
-
-    m2.AddTri(q1, q2, q3, i);
-  }
-
-  m2.EndModel();
-
-
-  PQP_CollideResult res;
-  PQP_REAL R1[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
-  PQP_REAL R2[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
-  PQP_REAL T1[3] = {0, 0, 0};
-  PQP_REAL T2[3] = {0, 0, 0};
-  PQP_Collide(&res, R1, T1, &m1, R2, T2, &m2);
-
-  if(res.NumPairs() > 0)
-  {
-    sortCollisionPair_PQP(res.pairs, res.NumPairs());
-    results.resize(res.NumPairs());
-
-    for(int i = 0; i < res.NumPairs(); ++i)
-    {
-      results[i] = std::make_pair(res.Id1(i), res.Id2(i));
-    }
-
-    if(verbose)
-      std::cout << "in collision " << res.NumPairs() << ": " << std::endl;
-    if(verbose) std::cout << res.num_bv_tests << " " << res.num_tri_tests << std::endl;
-    return true;
-  }
-  else
-  {
-    if(verbose) std::cout << "collision free " << std::endl;
-    if(verbose) std::cout << res.num_bv_tests << " " << res.num_tri_tests << std::endl;
-    return false;
-  }
-}
-
-
-inline bool collide_PQP2(const Transform& tf,
-                         const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
-                         const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2,
-                         std::vector<std::pair<int, int> >& results, bool verbose = true)
-{
-  PQP_Model m1, m2;
-
-  m1.BeginModel();
-  for(unsigned int i = 0; i < triangles1.size(); ++i)
-  {
-    const Triangle& t = triangles1[i];
-    const Vec3f& p1 = vertices1[t[0]];
-    const Vec3f& p2 = vertices1[t[1]];
-    const Vec3f& p3 = vertices1[t[2]];
-
-    PQP_REAL q1[3];
-    PQP_REAL q2[3];
-    PQP_REAL q3[3];
-
-    q1[0] = p1[0]; q1[1] = p1[1]; q1[2] = p1[2];
-    q2[0] = p2[0]; q2[1] = p2[1]; q2[2] = p2[2];
-    q3[0] = p3[0]; q3[1] = p3[1]; q3[2] = p3[2];
-
-    m1.AddTri(q1, q2, q3, i);
-  }
-
-  m1.EndModel();
-
-
-  m2.BeginModel();
-  for(unsigned int i = 0; i < triangles2.size(); ++i)
-  {
-    const Triangle& t = triangles2[i];
-    const Vec3f& p1 = vertices2[t[0]];
-    const Vec3f& p2 = vertices2[t[1]];
-    const Vec3f& p3 = vertices2[t[2]];
-
-    PQP_REAL q1[3];
-    PQP_REAL q2[3];
-    PQP_REAL q3[3];
-
-    q1[0] = p1[0]; q1[1] = p1[1]; q1[2] = p1[2];
-    q2[0] = p2[0]; q2[1] = p2[1]; q2[2] = p2[2];
-    q3[0] = p3[0]; q3[1] = p3[1]; q3[2] = p3[2];
-
-    m2.AddTri(q1, q2, q3, i);
-  }
-
-  m2.EndModel();
-
-
-  PQP_CollideResult res;
-  PQP_REAL R1[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
-  PQP_REAL R2[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
-  PQP_REAL T1[3] = {0, 0, 0};
-  PQP_REAL T2[3] = {0, 0, 0};
-  T1[0] = tf.T[0];
-  T1[1] = tf.T[1];
-  T1[2] = tf.T[2];
-  for(int i = 0; i < 3; ++i)
-  {
-    R1[i][0] = tf.R[i][0];
-    R1[i][1] = tf.R[i][1];
-    R1[i][2] = tf.R[i][2];
-  }
-
-  PQP_Collide(&res, R1, T1, &m1, R2, T2, &m2);
-
-  if(res.NumPairs() > 0)
-  {
-    sortCollisionPair_PQP(res.pairs, res.NumPairs());
-    results.resize(res.NumPairs());
-    for(int i = 0; i < res.NumPairs(); ++i)
-    {
-      results[i] = std::make_pair(res.Id1(i), res.Id2(i));
-    }
-
-    if(verbose)
-      std::cout << "in collision " << res.NumPairs() << ": " << std::endl;
-    if(verbose) std::cout << res.num_bv_tests << " " << res.num_tri_tests << std::endl;
-    return true;
-  }
-  else
-  {
-    if(verbose) std::cout << "collision free " << std::endl;
-    if(verbose) std::cout << res.num_bv_tests << " " << res.num_tri_tests << std::endl;
-    return false;
-  }
-}
-
-#endif
-
-
-struct DistanceRes
-{
-  double distance;
-  Vec3f p1;
-  Vec3f p2;
-};
-
-#if USE_PQP
-inline bool distance_PQP(const Transform& tf,
-                         const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
-                         const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2,
-                         DistanceRes& distance_result,
-                         bool verbose = true)
-{
-  PQP_Model m1, m2;
-
-  m1.BeginModel();
-  for(unsigned int i = 0; i < triangles1.size(); ++i)
-  {
-    const Triangle& t = triangles1[i];
-    const Vec3f& p1_ = vertices1[t[0]];
-    const Vec3f& p2_ = vertices1[t[1]];
-    const Vec3f& p3_ = vertices1[t[2]];
-
-    Vec3f p1 = tf.R * p1_ + tf.T;
-    Vec3f p2 = tf.R * p2_ + tf.T;
-    Vec3f p3 = tf.R * p3_ + tf.T;
-
-    PQP_REAL q1[3];
-    PQP_REAL q2[3];
-    PQP_REAL q3[3];
-
-    q1[0] = p1[0]; q1[1] = p1[1]; q1[2] = p1[2];
-    q2[0] = p2[0]; q2[1] = p2[1]; q2[2] = p2[2];
-    q3[0] = p3[0]; q3[1] = p3[1]; q3[2] = p3[2];
-
-    m1.AddTri(q1, q2, q3, i);
-  }
-
-  m1.EndModel();
-
-
-  m2.BeginModel();
-  for(unsigned int i = 0; i < triangles2.size(); ++i)
-  {
-    const Triangle& t = triangles2[i];
-    const Vec3f& p1 = vertices2[t[0]];
-    const Vec3f& p2 = vertices2[t[1]];
-    const Vec3f& p3 = vertices2[t[2]];
-
-    PQP_REAL q1[3];
-    PQP_REAL q2[3];
-    PQP_REAL q3[3];
-
-    q1[0] = p1[0]; q1[1] = p1[1]; q1[2] = p1[2];
-    q2[0] = p2[0]; q2[1] = p2[1]; q2[2] = p2[2];
-    q3[0] = p3[0]; q3[1] = p3[1]; q3[2] = p3[2];
-
-    m2.AddTri(q1, q2, q3, i);
-  }
-
-  m2.EndModel();
-
-
-  PQP_DistanceResult res;
-  PQP_REAL R1[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
-  PQP_REAL R2[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
-  PQP_REAL T1[3] = {0, 0, 0};
-  PQP_REAL T2[3] = {0, 0, 0};
-
-  PQP_Distance(&res, R1, T1, &m1, R2, T2, &m2, 0.01, 0.01);
-
-
-  distance_result.distance = res.distance;
-  distance_result.p1.setValue(res.p1[0], res.p1[1], res.p1[2]);
-  distance_result.p2.setValue(res.p2[0], res.p2[1], res.p2[2]);
-
-
-  if(verbose)
-  {
-    std::cout << "distance " << res.distance << std::endl;
-    std::cout << res.p1[0] << " " << res.p1[1] << " " << res.p1[2] << std::endl;
-    std::cout << res.p2[0] << " " << res.p2[1] << " " << res.p2[2] << std::endl;
-    std::cout << res.num_bv_tests << " " << res.num_tri_tests << std::endl;
-  }
-
-  return true;
-}
-
-
-inline bool distance_PQP2(const Transform& tf,
-                          const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
-                          const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2,
-                          DistanceRes& distance_result, bool verbose = true)
-{
-  PQP_Model m1, m2;
-
-  m1.BeginModel();
-  for(unsigned int i = 0; i < triangles1.size(); ++i)
-  {
-    const Triangle& t = triangles1[i];
-    const Vec3f& p1 = vertices1[t[0]];
-    const Vec3f& p2 = vertices1[t[1]];
-    const Vec3f& p3 = vertices1[t[2]];
-
-    PQP_REAL q1[3];
-    PQP_REAL q2[3];
-    PQP_REAL q3[3];
-
-    q1[0] = p1[0]; q1[1] = p1[1]; q1[2] = p1[2];
-    q2[0] = p2[0]; q2[1] = p2[1]; q2[2] = p2[2];
-    q3[0] = p3[0]; q3[1] = p3[1]; q3[2] = p3[2];
-
-    m1.AddTri(q1, q2, q3, i);
-  }
-
-  m1.EndModel();
-
-
-  m2.BeginModel();
-  for(unsigned int i = 0; i < triangles2.size(); ++i)
-  {
-    const Triangle& t = triangles2[i];
-    const Vec3f& p1 = vertices2[t[0]];
-    const Vec3f& p2 = vertices2[t[1]];
-    const Vec3f& p3 = vertices2[t[2]];
-
-    PQP_REAL q1[3];
-    PQP_REAL q2[3];
-    PQP_REAL q3[3];
-
-    q1[0] = p1[0]; q1[1] = p1[1]; q1[2] = p1[2];
-    q2[0] = p2[0]; q2[1] = p2[1]; q2[2] = p2[2];
-    q3[0] = p3[0]; q3[1] = p3[1]; q3[2] = p3[2];
-
-    m2.AddTri(q1, q2, q3, i);
-  }
-
-  m2.EndModel();
-
-
-  PQP_DistanceResult res;
-  PQP_REAL R1[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
-  PQP_REAL R2[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
-  PQP_REAL T1[3] = {0, 0, 0};
-  PQP_REAL T2[3] = {0, 0, 0};
-
-  T1[0] = tf.T[0];
-  T1[1] = tf.T[1];
-  T1[2] = tf.T[2];
-  for(int i = 0; i < 3; ++i)
-  {
-    R1[i][0] = tf.R[i][0];
-    R1[i][1] = tf.R[i][1];
-    R1[i][2] = tf.R[i][2];
-  }
-
-  PQP_Distance(&res, R1, T1, &m1, R2, T2, &m2, 0.01, 0.01);
-
-
-  Vec3f p1_temp(res.p1[0], res.p1[1], res.p1[2]);
-  Vec3f p2_temp(res.p2[0], res.p2[1], res.p2[2]);
-
-  Vec3f p1 = tf.R * p1_temp + tf.T;
-  Vec3f p2 = p2_temp;
-
-
-  distance_result.distance = res.distance;
-  distance_result.p1 = p1;
-  distance_result.p2 = p2;
-
-
-  if(verbose)
-  {
-    std::cout << "distance " << res.distance << std::endl;
-    std::cout << p1[0] << " " << p1[1] << " " << p1[2] << std::endl;
-    std::cout << p2[0] << " " << p2[1] << " " << p2[2] << std::endl;
-    std::cout << res.num_bv_tests << " " << res.num_tri_tests << std::endl;
-  }
-
-  return true;
-}
-
-#endif
-
-inline BVH_REAL rand_interval(BVH_REAL rmin, BVH_REAL rmax)
-{
-  BVH_REAL t = rand() / ((BVH_REAL)RAND_MAX + 1);
-  return (t * (rmax - rmin) + rmin);
-}
-
-inline void loadOBJFile(const char* filename, std::vector<Vec3f>& points, std::vector<Triangle>& triangles)
-{
-
-  FILE* file = fopen(filename, "rb");
-  if(!file)
-  {
-    std::cerr << "file not exist" << std::endl;
-    return;
-  }
-
-  bool has_normal = false;
-  bool has_texture = false;
-  char line_buffer[2000];
-  while(fgets(line_buffer, 2000, file))
-  {
-    char* first_token = strtok(line_buffer, "\r\n\t ");
-    if(!first_token || first_token[0] == '#' || first_token[0] == 0)
-      continue;
-
-    switch(first_token[0])
-    {
-      case 'v':
-      {
-        if(first_token[1] == 'n')
-        {
-          strtok(NULL, "\t ");
-          strtok(NULL, "\t ");
-          strtok(NULL, "\t ");
-          has_normal = true;
-        }
-        else if(first_token[1] == 't')
-        {
-          strtok(NULL, "\t ");
-          strtok(NULL, "\t ");
-          has_texture = true;
-        }
-        else
-        {
-          BVH_REAL x = (BVH_REAL)atof(strtok(NULL, "\t "));
-          BVH_REAL y = (BVH_REAL)atof(strtok(NULL, "\t "));
-          BVH_REAL z = (BVH_REAL)atof(strtok(NULL, "\t "));
-          Vec3f p(x, y, z);
-          points.push_back(p);
-        }
-      }
-      break;
-      case 'f':
-      {
-        Triangle tri;
-        char* data[30];
-        int n = 0;
-        while((data[n] = strtok(NULL, "\t \r\n")) != NULL)
-        {
-          if(strlen(data[n]))
-            n++;
-        }
-
-        for(int t = 0; t < (n - 2); ++t)
-        {
-          if((!has_texture) && (!has_normal))
-          {
-            tri[0] = atoi(data[0]) - 1;
-            tri[1] = atoi(data[1]) - 1;
-            tri[2] = atoi(data[2]) - 1;
-          }
-          else
-          {
-            const char *v1;
-            for(int i = 0; i < 3; i++)
-            {
-               // vertex ID
-               if(i == 0)
-                 v1 = data[0];
-               else
-                 v1 = data[t + i];
-
-               tri[i] = atoi(v1) - 1;
-
-               // texture coordinate
-               const char *v2 = strchr(v1 + 1, '/');
-
-               if(v2)
-               {
-                 strchr(v2 + 1, '/');
-               }
-            }
-          }
-          triangles.push_back(tri);
-        }
-      }
-    }
-  }
-}
-
-
-inline void eulerToMatrix(BVH_REAL a, BVH_REAL b, BVH_REAL c, Matrix3f& R)
-{
-  BVH_REAL c1 = cos(a);
-  BVH_REAL c2 = cos(b);
-  BVH_REAL c3 = cos(c);
-  BVH_REAL s1 = sin(a);
-  BVH_REAL s2 = sin(b);
-  BVH_REAL s3 = sin(c);
-
-  R.setValue(c1 * c2, - c2 * s1, s2,
-             c3 * s1 + c1 * s2 * s3, c1 * c3 - s1 * s2 * s3, - c2 * s3,
-             s1 * s3 - c1 * c3 * s2, c3 * s1 * s2 + c1 * s3, c2 * c3);
-}
-
-inline void generateRandomTransform(BVH_REAL extents[6], Transform& transform)
-{
-  BVH_REAL x = rand_interval(extents[0], extents[3]);
-  BVH_REAL y = rand_interval(extents[1], extents[4]);
-  BVH_REAL z = rand_interval(extents[2], extents[5]);
-
-  const BVH_REAL pi = 3.1415926;
-  BVH_REAL a = rand_interval(0, 2 * pi);
-  BVH_REAL b = rand_interval(0, 2 * pi);
-  BVH_REAL c = rand_interval(0, 2 * pi);
-
-  eulerToMatrix(a, b, c, transform.R);
-  transform.T.setValue(x, y, z);
-}
-
-inline void generateRandomTransform(BVH_REAL extents[6], std::vector<Transform>& transforms, std::vector<Transform>& transforms2, BVH_REAL delta_trans[3], BVH_REAL delta_rot, int n)
-{
-  transforms.resize(n);
-  transforms2.resize(n);
-  for(int i = 0; i < n; ++i)
-  {
-    BVH_REAL x = rand_interval(extents[0], extents[3]);
-    BVH_REAL y = rand_interval(extents[1], extents[4]);
-    BVH_REAL z = rand_interval(extents[2], extents[5]);
-
-    const BVH_REAL pi = 3.1415926;
-    BVH_REAL a = rand_interval(0, 2 * pi);
-    BVH_REAL b = rand_interval(0, 2 * pi);
-    BVH_REAL c = rand_interval(0, 2 * pi);
-
-    eulerToMatrix(a, b, c, transforms[i].R);
-    transforms[i].T.setValue(x, y, z);
-
-    BVH_REAL deltax = rand_interval(-delta_trans[0], delta_trans[0]);
-    BVH_REAL deltay = rand_interval(-delta_trans[1], delta_trans[1]);
-    BVH_REAL deltaz = rand_interval(-delta_trans[2], delta_trans[2]);
-
-    BVH_REAL deltaa = rand_interval(-delta_rot, delta_rot);
-    BVH_REAL deltab = rand_interval(-delta_rot, delta_rot);
-    BVH_REAL deltac = rand_interval(-delta_rot, delta_rot);
-
-    eulerToMatrix(a + deltaa, b + deltab, c + deltac, transforms2[i].R);
-    transforms2[i].T.setValue(x + deltax, y + deltay, z + deltaz);
-  }
-}
-
-
-inline void generateRandomTransform_ccd(BVH_REAL extents[6], std::vector<Transform>& transforms, std::vector<Transform>& transforms2, BVH_REAL delta_trans[3], BVH_REAL delta_rot, int n,
-                                        const std::vector<Vec3f>& vertices1, const std::vector<Triangle>& triangles1,
-                                        const std::vector<Vec3f>& vertices2, const std::vector<Triangle>& triangles2)
-{
-  transforms.resize(n);
-  transforms2.resize(n);
-
-  for(int i = 0; i < n;)
-  {
-    BVH_REAL x = rand_interval(extents[0], extents[3]);
-    BVH_REAL y = rand_interval(extents[1], extents[4]);
-    BVH_REAL z = rand_interval(extents[2], extents[5]);
-
-    const BVH_REAL pi = 3.1415926;
-    BVH_REAL a = rand_interval(0, 2 * pi);
-    BVH_REAL b = rand_interval(0, 2 * pi);
-    BVH_REAL c = rand_interval(0, 2 * pi);
-
-    Transform tf;
-
-    eulerToMatrix(a, b, c, tf.R);
-    tf.T.setValue(x, y, z);
-
-    std::vector<std::pair<int, int> > results;
-#if USE_PQP
-    if(!collide_PQP(tf, vertices1, triangles1, vertices2, triangles2, results, false))
-#endif
-    {
-      transforms[i] = tf;
-
-      BVH_REAL deltax = rand_interval(-delta_trans[0], delta_trans[0]);
-      BVH_REAL deltay = rand_interval(-delta_trans[1], delta_trans[1]);
-      BVH_REAL deltaz = rand_interval(-delta_trans[2], delta_trans[2]);
-
-      BVH_REAL deltaa = rand_interval(-delta_rot, delta_rot);
-      BVH_REAL deltab = rand_interval(-delta_rot, delta_rot);
-      BVH_REAL deltac = rand_interval(-delta_rot, delta_rot);
-
-      eulerToMatrix(a + deltaa, b + deltab, c + deltac, transforms2[i].R);
-      transforms2[i].T.setValue(x + deltax, y + deltay, z + deltaz);
-      ++i;
-    }
-  }
-}
-
-
-
-
-#endif
diff --git a/trunk/fcl/test/timer.cpp b/trunk/fcl/test/timer.cpp
deleted file mode 100644
index 40a5ddcbb6d81c89d036d18e20a4f05cdb2ee395..0000000000000000000000000000000000000000
--- a/trunk/fcl/test/timer.cpp
+++ /dev/null
@@ -1,121 +0,0 @@
-/*
- * Software License Agreement (BSD License)
- *
- *  Copyright (c) 2011, Willow Garage, Inc.
- *  All rights reserved.
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions
- *  are met:
- *
- *   * Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *   * Redistributions in binary form must reproduce the above
- *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/or other materials provided
- *     with the distribution.
- *   * Neither the name of Willow Garage, Inc. nor the names of its
- *     contributors may be used to endorse or promote products derived
- *     from this software without specific prior written permission.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- *  POSSIBILITY OF SUCH DAMAGE.
- */
-
-/** \author Jia Pan */
-
-#include "timer.h"
-#include <cstddef>
-
-
-Timer::Timer()
-{
-#ifdef _WIN32
-        QueryPerformanceFrequency(&frequency);
-        startCount.QuadPart = 0;
-        endCount.QuadPart = 0;
-#else
-        startCount.tv_sec = startCount.tv_usec = 0;
-        endCount.tv_sec = endCount.tv_usec = 0;
-#endif
-
-        stopped = 0;
-        startTimeInMicroSec = 0;
-        endTimeInMicroSec = 0;
-}
-
-
-Timer::~Timer()
-{
-}
-
-
-void Timer::start()
-{
-        stopped = 0; // reset stop flag
-#ifdef _WIN32
-        QueryPerformanceCounter(&startCount);
-#else
-        gettimeofday(&startCount, NULL);
-#endif
-}
-
-
-void Timer::stop()
-{
-        stopped = 1; // set timer stopped flag
-
-#ifdef _WIN32
-        QueryPerformanceCounter(&endCount);
-#else
-        gettimeofday(&endCount, NULL);
-#endif
-}
-
-
-double Timer::getElapsedTimeInMicroSec()
-{
-#ifdef _WIN32
-        if(!stopped)
-                QueryPerformanceCounter(&endCount);
-
-        startTimeInMicroSec = startCount.QuadPart * (1000000.0 / frequency.QuadPart);
-        endTimeInMicroSec = endCount.QuadPart * (1000000.0 / frequency.QuadPart);
-#else
-        if(!stopped)
-                gettimeofday(&endCount, NULL);
-
-        startTimeInMicroSec = (startCount.tv_sec * 1000000.0) + startCount.tv_usec;
-        endTimeInMicroSec = (endCount.tv_sec * 1000000.0) + endCount.tv_usec;
-#endif
-
-        return endTimeInMicroSec - startTimeInMicroSec;
-}
-
-
-double Timer::getElapsedTimeInMilliSec()
-{
-        return this->getElapsedTimeInMicroSec() * 0.001;
-}
-
-
-double Timer::getElapsedTimeInSec()
-{
-        return this->getElapsedTimeInMicroSec() * 0.000001;
-}
-
-
-double Timer::getElapsedTime()
-{
-        return this->getElapsedTimeInMilliSec();
-}
diff --git a/trunk/fcl/test/timer.h b/trunk/fcl/test/timer.h
deleted file mode 100644
index 7eb04c0bdcef89dd9c12f8876063896f560e31cf..0000000000000000000000000000000000000000
--- a/trunk/fcl/test/timer.h
+++ /dev/null
@@ -1,70 +0,0 @@
-/*
- * Software License Agreement (BSD License)
- *
- *  Copyright (c) 2011, Willow Garage, Inc.
- *  All rights reserved.
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions
- *  are met:
- *
- *   * Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *   * Redistributions in binary form must reproduce the above
- *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/or other materials provided
- *     with the distribution.
- *   * Neither the name of Willow Garage, Inc. nor the names of its
- *     contributors may be used to endorse or promote products derived
- *     from this software without specific prior written permission.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- *  POSSIBILITY OF SUCH DAMAGE.
- */
-
-/** \author Jia Pan */
-
-#ifdef _WIN32
-#include <windows.h>
-#else
-#include <sys/time.h>
-#endif
-
-/** Timer for CPU
- */
-class Timer
-{
-public:
-        Timer();
-        ~Timer();
-
-        void   start();                             ///< start timer
-        void   stop();                              ///< stop the timer
-        double getElapsedTime();                    ///< get elapsed time in milli-second
-        double getElapsedTimeInSec();               ///< get elapsed time in second (same as getElapsedTime)
-        double getElapsedTimeInMilliSec();          ///< get elapsed time in milli-second
-        double getElapsedTimeInMicroSec();          ///< get elapsed time in micro-second
-
-private:
-        double startTimeInMicroSec;                 ///< starting time in micro-second
-        double endTimeInMicroSec;                   ///< ending time in micro-second
-        int    stopped;                             ///< stop flag
-#ifdef _WIN32
-        LARGE_INTEGER frequency;                    ///< ticks per second
-        LARGE_INTEGER startCount;
-        LARGE_INTEGER endCount;
-#else
-        timeval startCount;
-        timeval endCount;
-#endif
-};
diff --git a/trunk/fcl/test/timing_test.cpp b/trunk/fcl/test/timing_test.cpp
deleted file mode 100644
index d02db47d60c035f4b4fcec3e9af8319ad2935739..0000000000000000000000000000000000000000
--- a/trunk/fcl/test/timing_test.cpp
+++ /dev/null
@@ -1,247 +0,0 @@
-/*
- * Software License Agreement (BSD License)
- *
- *  Copyright (c) 2011, Willow Garage, Inc.
- *  All rights reserved.
- *
- *  Redistribution and use in source and binary forms, with or without
- *  modification, are permitted provided that the following conditions
- *  are met:
- *
- *   * Redistributions of source code must retain the above copyright
- *     notice, this list of conditions and the following disclaimer.
- *   * Redistributions in binary form must reproduce the above
- *     copyright notice, this list of conditions and the following
- *     disclaimer in the documentation and/or other materials provided
- *     with the distribution.
- *   * Neither the name of Willow Garage, Inc. nor the names of its
- *     contributors may be used to endorse or promote products derived
- *     from this software without specific prior written permission.
- *
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- *  POSSIBILITY OF SUCH DAMAGE.
- */
-
-/** \author Jia Pan */
-
-#include "fcl/traversal_node_bvhs.h"
-#include "fcl/collision_node.h"
-#include "fcl/simple_setup.h"
-#include "fcl/collision.h"
-#include "test_core_utility.h"
-#include "timer.h"
-
-#if USE_PQP
-#include <PQP.h>
-#endif
-
-
-int main()
-{
-  std::vector<Vec3f> vertices1, vertices2;
-  std::vector<Triangle> triangles1, triangles2;
-  loadOBJFile("test/env.obj", vertices1, triangles1);
-  loadOBJFile("test/rob.obj", vertices2, triangles2);
-
-  std::vector<Transform> transforms; // t0
-  std::vector<Transform> transforms2; // t1
-  BVH_REAL extents[] = {-3000, -3000, 0, 3000, 3000, 3000};
-  BVH_REAL delta_trans[] = {1, 1, 1};
-  int n = 100000;
-  bool verbose = false;
-
-  generateRandomTransform(extents, transforms, transforms2, delta_trans, 0.005 * 2 * 3.1415, n);
-
-  std::cout << "FCL timing 2" << std::endl;
-  {
-    double t_fcl = 0;
-
-    BVHModel<OBB> m1;
-    BVHModel<OBB> m2;
-    SplitMethodType split_method = SPLIT_METHOD_MEAN;
-    m1.bv_splitter.reset(new BVSplitter<OBB>(split_method));
-    m2.bv_splitter.reset(new BVSplitter<OBB>(split_method));
-
-    m1.beginModel();
-    m1.addSubModel(vertices1, triangles1);
-    m1.endModel();
-    m1.makeParentRelative();
-
-    m2.beginModel();
-    m2.addSubModel(vertices2, triangles2);
-    m2.endModel();
-    m2.makeParentRelative();
-
-
-    Matrix3f R2;
-    R2.setIdentity();
-    Vec3f T2;
-
-    for(unsigned int i = 0; i < transforms.size(); ++i)
-    {
-      Transform& tf = transforms[i];
-
-      MeshCollisionTraversalNodeOBB node;
-      if(!initialize(node, (const BVHModel<OBB>&)m1, SimpleTransform(tf.R, tf.T), (const BVHModel<OBB>&)m2, SimpleTransform(R2, T2)))
-        std::cout << "initialize error" << std::endl;
-
-      node.enable_statistics = false;
-      node.num_max_contacts = -1;
-      node.exhaustive = false;
-      node.enable_contact = false;
-
-      Timer timer;
-      timer.start();
-      collide2(&node);
-      timer.stop();
-      t_fcl += timer.getElapsedTime();
-
-      //std::cout << node.pairs.size() << std::endl;
-    }
-
-    std::cout << "fcl timing " << t_fcl << " ms" << std::endl;
-  }
-
-
-  std::cout << "PQP timing" << std::endl;
-#if USE_PQP
-  {
-    double t_pqp = 0;
-
-    PQP_Model m1, m2;
-
-    m1.BeginModel();
-    for(unsigned int i = 0; i < triangles1.size(); ++i)
-    {
-      const Triangle& t = triangles1[i];
-      const Vec3f& p1 = vertices1[t[0]];
-      const Vec3f& p2 = vertices1[t[1]];
-      const Vec3f& p3 = vertices1[t[2]];
-
-      PQP_REAL q1[3];
-      PQP_REAL q2[3];
-      PQP_REAL q3[3];
-
-      q1[0] = p1[0]; q1[1] = p1[1]; q1[2] = p1[2];
-      q2[0] = p2[0]; q2[1] = p2[1]; q2[2] = p2[2];
-      q3[0] = p3[0]; q3[1] = p3[1]; q3[2] = p3[2];
-
-      m1.AddTri(q1, q2, q3, i);
-    }
-    m1.EndModel();
-
-
-    m2.BeginModel();
-    for(unsigned int i = 0; i < triangles2.size(); ++i)
-    {
-      const Triangle& t = triangles2[i];
-      const Vec3f& p1 = vertices2[t[0]];
-      const Vec3f& p2 = vertices2[t[1]];
-      const Vec3f& p3 = vertices2[t[2]];
-
-      PQP_REAL q1[3];
-      PQP_REAL q2[3];
-      PQP_REAL q3[3];
-
-      q1[0] = p1[0]; q1[1] = p1[1]; q1[2] = p1[2];
-      q2[0] = p2[0]; q2[1] = p2[1]; q2[2] = p2[2];
-      q3[0] = p3[0]; q3[1] = p3[1]; q3[2] = p3[2];
-
-      m2.AddTri(q1, q2, q3, i);
-    }
-    m2.EndModel();
-
-
-    for(unsigned int i = 0; i < transforms.size(); ++i)
-    {
-      Transform& tf = transforms[i];
-      PQP_CollideResult res;
-      PQP_REAL R1[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
-      PQP_REAL R2[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
-      PQP_REAL T1[3] = {0, 0, 0};
-      PQP_REAL T2[3] = {0, 0, 0};
-      T1[0] = tf.T[0];
-      T1[1] = tf.T[1];
-      T1[2] = tf.T[2];
-      for(int i = 0; i < 3; ++i)
-      {
-        R1[i][0] = tf.R[i][0];
-        R1[i][1] = tf.R[i][1];
-        R1[i][2] = tf.R[i][2];
-      }
-
-      Timer timer;
-      timer.start();
-      PQP_Collide(&res, R1, T1, &m1, R2, T2, &m2, PQP_FIRST_CONTACT);
-      timer.stop();
-      t_pqp += timer.getElapsedTime();
-
-      //std::cout << res.NumPairs() << std::endl;
-    }
-
-    std::cout << "pqp timing " << t_pqp << " ms" << std::endl;
-  }
-#endif
-
-  std::cout << "FCL timing" << std::endl;
-  {
-    double t_fcl = 0;
-
-    BVHModel<OBB> m1;
-    BVHModel<OBB> m2;
-    SplitMethodType split_method = SPLIT_METHOD_MEAN;
-    m1.bv_splitter.reset(new BVSplitter<OBB>(split_method));
-    m2.bv_splitter.reset(new BVSplitter<OBB>(split_method));
-
-    m1.beginModel();
-    m1.addSubModel(vertices1, triangles1);
-    m1.endModel();
-
-    m2.beginModel();
-    m2.addSubModel(vertices2, triangles2);
-    m2.endModel();
-
-    Matrix3f R2;
-    R2.setIdentity();
-    Vec3f T2;
-
-    for(unsigned int i = 0; i < transforms.size(); ++i)
-    {
-      Transform& tf = transforms[i];
-
-      MeshCollisionTraversalNodeOBB node;
-      if(!initialize(node, (const BVHModel<OBB>&)m1, SimpleTransform(tf.R, tf.T), (const BVHModel<OBB>&)m2, SimpleTransform(R2, T2)))
-        std::cout << "initialize error" << std::endl;
-
-      node.enable_statistics = false;
-      node.num_max_contacts = -1;
-      node.exhaustive = false;
-      node.enable_contact = false;
-
-      Timer timer;
-      timer.start();
-      collide(&node);
-      timer.stop();
-      t_fcl += timer.getElapsedTime();
-
-      //std::cout << node.pairs.size() << std::endl;
-    }
-
-    std::cout << "fcl timing " << t_fcl << " ms" << std::endl;
-  }
-
-
-
-  return 1;
-
-}