From 0eb219c675cf187fe6b6cd509a98cc87ee5103c3 Mon Sep 17 00:00:00 2001
From: isucan <isucan@253336fb-580f-4252-a368-f3cef5a2a82b>
Date: Mon, 9 Jan 2012 09:14:17 +0000
Subject: [PATCH] since we do not know when to stop colliding two broad pahse
managers, we do not include that API
git-svn-id: https://kforge.ros.org/fcl/fcl_ros@63 253336fb-580f-4252-a368-f3cef5a2a82b
---
trunk/fcl/include/fcl/broad_phase_collision.h | 3 ---
trunk/fcl/src/broad_phase_collision.cpp | 13 -------------
2 files changed, 16 deletions(-)
diff --git a/trunk/fcl/include/fcl/broad_phase_collision.h b/trunk/fcl/include/fcl/broad_phase_collision.h
index b301b609..b99359cb 100644
--- a/trunk/fcl/include/fcl/broad_phase_collision.h
+++ b/trunk/fcl/include/fcl/broad_phase_collision.h
@@ -84,9 +84,6 @@ public:
/** \brief perform collision test for the objects belonging to the manager (i.e., N^2 self collision) */
virtual void collide(void* cdata, CollisionCallBack callback) const = 0;
- /** \brief perform collision test for all pairs of objects belonging to the \e other manager */
- virtual void collide(const BroadPhaseCollisionManager *other, void* cdata, CollisionCallBack callback) const;
-
/** \brief whether the manager is empty */
virtual bool empty() const = 0;
diff --git a/trunk/fcl/src/broad_phase_collision.cpp b/trunk/fcl/src/broad_phase_collision.cpp
index 5888f55c..d259f0a2 100644
--- a/trunk/fcl/src/broad_phase_collision.cpp
+++ b/trunk/fcl/src/broad_phase_collision.cpp
@@ -69,19 +69,6 @@ bool defaultCollisionFunction(CollisionObject* o1, CollisionObject* o2, void* cd
return cdata->done;
}
-void BroadPhaseCollisionManager::collide(const BroadPhaseCollisionManager *other, void* cdata, CollisionCallBack callback) const
-{
- if (other->size() < size())
- other->collide(this, cdata, callback);
- else
- {
- std::vector<CollisionObject*> objs;
- getObjects(objs);
- for (std::size_t i = 0 ; i < objs.size() ; ++i)
- other->collide(objs[i], cdata, callback);
- }
-}
-
void NaiveCollisionManager::unregisterObject(CollisionObject* obj)
{
objs.remove(obj);
--
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