From 00ce8e7081d4f391090d8bc37758dc32b477ac4d Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Wed, 21 Nov 2018 09:26:55 +0100
Subject: [PATCH] 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 | 7 ----
.../hpp/fcl/traversal/traversal_node_bvhs.h | 5 ---
src/collision_node.cpp | 36 -------------------
src/traversal/traversal_node_bvhs.cpp | 18 ----------
4 files changed, 66 deletions(-)
diff --git a/include/hpp/fcl/collision_node.h b/include/hpp/fcl/collision_node.h
index dddfa7f7..f0076f24 100644
--- a/include/hpp/fcl/collision_node.h
+++ b/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
diff --git a/include/hpp/fcl/traversal/traversal_node_bvhs.h b/include/hpp/fcl/traversal/traversal_node_bvhs.h
index ae727233..eb06d123 100644
--- a/include/hpp/fcl/traversal/traversal_node_bvhs.h
+++ b/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;
};
diff --git a/src/collision_node.cpp b/src/collision_node.cpp
index 5d1bddb0..dd277b2a 100644
--- a/src/collision_node.cpp
+++ b/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)
{
diff --git a/src/traversal/traversal_node_bvhs.cpp b/src/traversal/traversal_node_bvhs.cpp
index 3612bf3d..90c3d38c 100644
--- a/src/traversal/traversal_node_bvhs.cpp
+++ b/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)
--
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