Remove unused functions and methods

  - collide2,
  - bool MeshCollisionTraversalNodeOBB::BVTesting(int b1, int b2,
         const Matrix3f& Rc, const Vec3f& Tc) const,
  - void MeshCollisionTraversalNodeOBB::leafTesting(int b1, int b2,
         const Matrix3f& Rc, const Vec3f& Tc,FCL_REAL& sqrDistLowerBound) const

include/hpp/fcl/collision_node.h

@@ -65,13 +65,6 @@ void selfCollide(CollisionTraversalNodeBase* node, BVHFrontList* front_list = NU
 
 /// @brief distance computation on distance traversal node; can use front list to accelerate
 void distance(DistanceTraversalNodeBase* node, BVHFrontList* front_list = NULL, int qsize = 2);
-
-/// @brief special collision on OBB traversal node
-void collide2(MeshCollisionTraversalNodeOBB* node, BVHFrontList* front_list = NULL);
-
-/// @brief special collision on RSS traversal node
-void collide2(MeshCollisionTraversalNodeRSS* node, BVHFrontList* front_list = NULL);
-
 }
 
 #endif

include/hpp/fcl/traversal/traversal_node_bvhs.h

@@ -268,11 +268,6 @@ public:
 
   void leafTesting(int b1, int b2, FCL_REAL&) const;
 
-  bool BVTesting(int b1, int b2, const Matrix3f& Rc, const Vec3f& Tc) const;
-
-  void leafTesting(int b1, int b2, const Matrix3f& Rc, const Vec3f& Tc,
-		   FCL_REAL& sqrDistLowerBound) const;
-
   Matrix3f R;
   Vec3f T;
 };

src/collision_node.cpp

@@ -55,42 +55,6 @@ void collide(CollisionTraversalNodeBase* node, FCL_REAL& sqrDistLowerBound,
   }
 }
 
-void collide2(MeshCollisionTraversalNodeOBB* node, BVHFrontList* front_list)
-{
-  FCL_REAL sqrDistLowerBound = 0;
-  if(front_list && front_list->size() > 0)
-  {
-    propagateBVHFrontListCollisionRecurse(node, front_list, sqrDistLowerBound);
-  }
-  else
-  {
-    Matrix3f Rtemp, R;
-    Vec3f Ttemp, T;
-    Rtemp = node->R * node->model2->getBV(0).getOrientation();
-    R = node->model1->getBV(0).getOrientation().transpose() * Rtemp;
-    Ttemp = node->R * node->model2->getBV(0).getCenter() + node->T;
-    Ttemp -= node->model1->getBV(0).getCenter();
-    T = node->model1->getBV(0).getOrientation().transpose() * Ttemp;
-
-    collisionRecurse(node, 0, 0, R, T, front_list);
-  }
-}
-
-void collide2(MeshCollisionTraversalNodeRSS* node, BVHFrontList* front_list)
-{
-  FCL_REAL sqrDistLowerBound = 0;
-  if(front_list && front_list->size() > 0)
-  {
-    propagateBVHFrontListCollisionRecurse(node, front_list, sqrDistLowerBound);
-  }
-  else
-  {
-    collisionRecurse(node, 0, 0, node->R, node->T, front_list);
-  }
-}
-
-
-
 void selfCollide(CollisionTraversalNodeBase* node, BVHFrontList* front_list)
 {
 

src/traversal/traversal_node_bvhs.cpp

@@ -210,24 +210,6 @@ void MeshCollisionTraversalNodeOBB::leafTesting
 }
 
 
-bool MeshCollisionTraversalNodeOBB::BVTesting(int b1, int b2, const Matrix3f& Rc, const Vec3f& Tc) const
-{
-  if(enable_statistics) num_bv_tests++;
-  return obbDisjoint(Rc, Tc, model1->getBV(b1).bv.extent, model2->getBV(b2).bv.extent);
-}
-
-  void MeshCollisionTraversalNodeOBB::leafTesting
-  (int b1, int b2, const Matrix3f& Rc, const Vec3f& Tc,
-   FCL_REAL& sqrDistLowerBound) const
-  {
-    details::meshCollisionOrientedNodeLeafTesting
-      (b1, b2, model1, model2, vertices1, vertices2, tri_indices1, tri_indices2,
-       R, T, tf1, tf2, enable_statistics, cost_density, num_leaf_tests, request,
-       *result, sqrDistLowerBound);
-  }
-
-
-
 MeshCollisionTraversalNodeRSS::MeshCollisionTraversalNodeRSS
 (bool enable_distance_lower_bound) :
   MeshCollisionTraversalNode<RSS> (enable_distance_lower_bound)