[doc] Add shape mesh collision call diagram.

doc/shape-mesh-collision-call.dot

+digraph CD  {
+
+	rankdir = BT
+	compound=true
+        size = 11.7
+
+        "BVHShapeCollider<OBBRSS, Shape, NarrowPhaseSolver>::collide\n(const CollisionGeometry* o1, const Transform3f& tf1,\nconst CollisionGeometry* o2, const Transform3f& tf2,\nconst NarrowPhaseSolver* nsolver,\nconst CollisionRequest& request, CollisionResult& result)\ncollision_func_matrix.cpp" [shape = box]
+        "details::orientedBVHShapeCollide<MeshShapeCollisionTraversalNodeOBBRSS\n<T_SH, NarrowPhaseSolver>, OBBRSS, T_SH, NarrowPhaseSolver>\n(const CollisionGeometry* o1, const Transform3f& tf1,\nconst CollisionGeometry* o2, const Transform3f&tf2,\nNarrowPhaseSolver* nsolver, const CollisionRequest& request,\nCollisionResult& result)\ncollision_func_matrix.cpp" [shape = box]
+        "void collide(CollisionTraversalNodeBase* node,\nconst CollisionRequest& request, CollisionResult& result,\nBVHFrontList* front_list)\ncollision_node.cpp" [shape = box]
+        "void propagateBVHFrontListCollisionRecurse\n(CollisionTraversalNodeBase* node, const CollisionRequest& request,\nCollisionResult& result, BVHFrontList* front_list)\ntraversal/traversal_recurse.cpp" [shape = box]
+        "void collisionRecurse(CollisionTraversalNodeBase* node,\nint b1, int b2, BVHFrontList* front_list,\nFCL_REAL& sqrDistLowerBound)\ntraversal/traversal_recurse.cpp" [shape = box]
+        "virtual bool CollisionTraversalNodeBase::BVTesting\n(int b1, int b2, FCL_REAL& sqrDistLowerBound) const = 0\ntraversal/traversal_node_base.h" [shape = box]
+        "virtual void CollisionTraversalNodeBase::leafTesting\n(int b1, int b2, FCL_REAL& sqrDistLowerBound) const\ntraversal/traversal_node_base.h" [shape = box]
+        "bool MeshShapeCollisionTraversalNodeOBBRSS::BVTesting\n(int b1, int b2, FCL_REAL& sqrDistLowerBound) const\ntraversal/traversal_node_bvh_shape.h" [shape = box]
+        "bool MeshShapeCollisionTraversalNodeOBBRSS::leafTesting\n(int b1, int b2, FCL_REAL& sqrDistLowerBound) const\ntraversal/traversal_node_bvh_shape.h" [shape = box]
+        "bool overlap(const Matrix3f& R0, const Vec3f& T0, const OBBRSS& b1,\nconst OBBRSS& b2, const CollisionRequest& request,\nFCL_REAL& sqrDistLowerBound)\nBV/OBBRSS.cpp" [shape = box]
+        "bool overlap(const Matrix3f& R0, const Vec3f& T0, const OBB& b1, const OBB& b2,\nconst CollisionRequest& request, FCL_REAL& sqrDistLowerBound)\nBV/OBB.cpp" [shape = box]
+        "bool obbDisjointAndLowerBoundDistance (const Matrix3f& B, const Vec3f& T,\nconst Vec3f& a, const Vec3f& b,\nconst CollisionRequest& request,\nFCL_REAL& squaredLowerBoundDistance)\nBV/OBB.cpp" [shape = box]
+        "void details::meshShapeCollisionOrientedNodeLeafTesting <OBBRSS, Shape, NarrowPhaseSolver>\n(int b1, int b2, const BVHModel<BV>* model1, const S& model2,\nVec3f* vertices, Triangle* tri_indices, const Transform3f& tf1,\nconst Transform3f& tf2, const NarrowPhaseSolver* nsolver,\nbool enable_statistics, int& num_leaf_tests,\nconst CollisionRequest& request, CollisionResult& result,\nFCL_REAL& sqrDistLowerBound)\ntraversal/traversal_node_bvh_shape.h:293" [shape = box]
+        "bool GJKSolver_indep::shapeTriangleIntersect<Shape>\n(const S& s, const Transform3f& tf,\nconst Vec3f& P1, const Vec3f& P2, const Vec3f& P3,\nFCL_REAL* distance, Vec3f* p1, Vec3f* p2) const\nnarrowphase/narrowphase.h:156" [shape = box]
+
+        "BVHShapeCollider<OBBRSS, Shape, NarrowPhaseSolver>::collide\n(const CollisionGeometry* o1, const Transform3f& tf1,\nconst CollisionGeometry* o2, const Transform3f& tf2,\nconst NarrowPhaseSolver* nsolver,\nconst CollisionRequest& request, CollisionResult& result)\ncollision_func_matrix.cpp" -> "details::orientedBVHShapeCollide<MeshShapeCollisionTraversalNodeOBBRSS\n<T_SH, NarrowPhaseSolver>, OBBRSS, T_SH, NarrowPhaseSolver>\n(const CollisionGeometry* o1, const Transform3f& tf1,\nconst CollisionGeometry* o2, const Transform3f&tf2,\nNarrowPhaseSolver* nsolver, const CollisionRequest& request,\nCollisionResult& result)\ncollision_func_matrix.cpp"
+        "details::orientedBVHShapeCollide<MeshShapeCollisionTraversalNodeOBBRSS\n<T_SH, NarrowPhaseSolver>, OBBRSS, T_SH, NarrowPhaseSolver>\n(const CollisionGeometry* o1, const Transform3f& tf1,\nconst CollisionGeometry* o2, const Transform3f&tf2,\nNarrowPhaseSolver* nsolver, const CollisionRequest& request,\nCollisionResult& result)\ncollision_func_matrix.cpp" -> "void collide(CollisionTraversalNodeBase* node,\nconst CollisionRequest& request, CollisionResult& result,\nBVHFrontList* front_list)\ncollision_node.cpp"
+        "void collide(CollisionTraversalNodeBase* node,\nconst CollisionRequest& request, CollisionResult& result,\nBVHFrontList* front_list)\ncollision_node.cpp" -> "void propagateBVHFrontListCollisionRecurse\n(CollisionTraversalNodeBase* node, const CollisionRequest& request,\nCollisionResult& result, BVHFrontList* front_list)\ntraversal/traversal_recurse.cpp"
+        "void collide(CollisionTraversalNodeBase* node,\nconst CollisionRequest& request, CollisionResult& result,\nBVHFrontList* front_list)\ncollision_node.cpp" -> "void collisionRecurse(CollisionTraversalNodeBase* node,\nint b1, int b2, BVHFrontList* front_list,\nFCL_REAL& sqrDistLowerBound)\ntraversal/traversal_recurse.cpp"
+        "void propagateBVHFrontListCollisionRecurse\n(CollisionTraversalNodeBase* node, const CollisionRequest& request,\nCollisionResult& result, BVHFrontList* front_list)\ntraversal/traversal_recurse.cpp" -> "void collisionRecurse(CollisionTraversalNodeBase* node,\nint b1, int b2, BVHFrontList* front_list,\nFCL_REAL& sqrDistLowerBound)\ntraversal/traversal_recurse.cpp"
+        "void collisionRecurse(CollisionTraversalNodeBase* node,\nint b1, int b2, BVHFrontList* front_list,\nFCL_REAL& sqrDistLowerBound)\ntraversal/traversal_recurse.cpp" -> "virtual bool CollisionTraversalNodeBase::BVTesting\n(int b1, int b2, FCL_REAL& sqrDistLowerBound) const = 0\ntraversal/traversal_node_base.h"
+        "void collisionRecurse(CollisionTraversalNodeBase* node,\nint b1, int b2, BVHFrontList* front_list,\nFCL_REAL& sqrDistLowerBound)\ntraversal/traversal_recurse.cpp" -> "virtual void CollisionTraversalNodeBase::leafTesting\n(int b1, int b2, FCL_REAL& sqrDistLowerBound) const\ntraversal/traversal_node_base.h"
+        "virtual bool CollisionTraversalNodeBase::BVTesting\n(int b1, int b2, FCL_REAL& sqrDistLowerBound) const = 0\ntraversal/traversal_node_base.h" -> "bool MeshShapeCollisionTraversalNodeOBBRSS::BVTesting\n(int b1, int b2, FCL_REAL& sqrDistLowerBound) const\ntraversal/traversal_node_bvh_shape.h" [color=red]
+        "virtual void CollisionTraversalNodeBase::leafTesting\n(int b1, int b2, FCL_REAL& sqrDistLowerBound) const\ntraversal/traversal_node_base.h" -> "bool MeshShapeCollisionTraversalNodeOBBRSS::leafTesting\n(int b1, int b2, FCL_REAL& sqrDistLowerBound) const\ntraversal/traversal_node_bvh_shape.h" [color = red]
+        "bool MeshShapeCollisionTraversalNodeOBBRSS::BVTesting\n(int b1, int b2, FCL_REAL& sqrDistLowerBound) const\ntraversal/traversal_node_bvh_shape.h" -> "bool overlap(const Matrix3f& R0, const Vec3f& T0, const OBBRSS& b1,\nconst OBBRSS& b2, const CollisionRequest& request,\nFCL_REAL& sqrDistLowerBound)\nBV/OBBRSS.cpp"
+        "bool overlap(const Matrix3f& R0, const Vec3f& T0, const OBBRSS& b1,\nconst OBBRSS& b2, const CollisionRequest& request,\nFCL_REAL& sqrDistLowerBound)\nBV/OBBRSS.cpp" -> "bool overlap(const Matrix3f& R0, const Vec3f& T0, const OBB& b1, const OBB& b2,\nconst CollisionRequest& request, FCL_REAL& sqrDistLowerBound)\nBV/OBB.cpp"
+        "bool overlap(const Matrix3f& R0, const Vec3f& T0, const OBB& b1, const OBB& b2,\nconst CollisionRequest& request, FCL_REAL& sqrDistLowerBound)\nBV/OBB.cpp" -> "bool obbDisjointAndLowerBoundDistance (const Matrix3f& B, const Vec3f& T,\nconst Vec3f& a, const Vec3f& b,\nconst CollisionRequest& request,\nFCL_REAL& squaredLowerBoundDistance)\nBV/OBB.cpp"
+        "bool MeshShapeCollisionTraversalNodeOBBRSS::leafTesting\n(int b1, int b2, FCL_REAL& sqrDistLowerBound) const\ntraversal/traversal_node_bvh_shape.h" -> "void details::meshShapeCollisionOrientedNodeLeafTesting <OBBRSS, Shape, NarrowPhaseSolver>\n(int b1, int b2, const BVHModel<BV>* model1, const S& model2,\nVec3f* vertices, Triangle* tri_indices, const Transform3f& tf1,\nconst Transform3f& tf2, const NarrowPhaseSolver* nsolver,\nbool enable_statistics, int& num_leaf_tests,\nconst CollisionRequest& request, CollisionResult& result,\nFCL_REAL& sqrDistLowerBound)\ntraversal/traversal_node_bvh_shape.h:293"
+        "void details::meshShapeCollisionOrientedNodeLeafTesting <OBBRSS, Shape, NarrowPhaseSolver>\n(int b1, int b2, const BVHModel<BV>* model1, const S& model2,\nVec3f* vertices, Triangle* tri_indices, const Transform3f& tf1,\nconst Transform3f& tf2, const NarrowPhaseSolver* nsolver,\nbool enable_statistics, int& num_leaf_tests,\nconst CollisionRequest& request, CollisionResult& result,\nFCL_REAL& sqrDistLowerBound)\ntraversal/traversal_node_bvh_shape.h:293" -> "bool GJKSolver_indep::shapeTriangleIntersect<Shape>\n(const S& s, const Transform3f& tf,\nconst Vec3f& P1, const Vec3f& P2, const Vec3f& P3,\nFCL_REAL* distance, Vec3f* p1, Vec3f* p2) const\nnarrowphase/narrowphase.h:156"
+}