git-svn-id: https://kforge.ros.org/fcl/fcl_ros@56 253336fb-580f-4252-a368-f3cef5a2a82b

trunk/fcl/include/fcl/collision_object.h

@@ -217,113 +217,6 @@ protected:
   void *user_data;
 };
 
-
-
-
-/** \brief Base class for all objects participating in collision */
-class CollisionObject2
-{
-public:
-  virtual ~CollisionObject2() {}
-
-  virtual OBJECT_TYPE getObjectType() const { return OT_UNKNOWN; }
-
-  virtual NODE_TYPE getNodeType() const { return BV_UNKNOWN; }
-
-  virtual void computeLocalAABB() = 0;
-
-  inline const AABB& getAABB() const
-  {
-    return aabb;
-  }
-
-  inline void computeAABB()
-  {
-    Vec3f center = t.transform(aabb_center);
-    Vec3f delta(aabb_radius, aabb_radius, aabb_radius);
-    aabb.min_ = center - delta;
-    aabb.max_ = center + delta;
-  }
-
-  void* getUserData() const
-  {
-    return user_data;
-  }
-
-  void setUserData(void *data)
-  {
-    user_data = data;
-  }
-    
-  inline const Vec3f& getTranslation() const
-  {
-    return t.getTranslation();
-  }
-
-  inline const Matrix3f& getRotation() const
-  {
-    return t.getRotation();
-  }
-
-  inline const SimpleQuaternion& getQuatRotation() const
-  {
-    return t.getQuatRotation();
-  }
-
-  void setRotation(const Matrix3f& R)
-  {
-    t.setRotation(R);
-  }
-
-  void setTranslation(const Vec3f& T)
-  {
-    t.setTranslation(T);
-  }
-
-  void setQuatRotation(const SimpleQuaternion& q)
-  {
-    t.setQuatRotation(q);
-  }
-
-  void setTransform(const Matrix3f& R, const Vec3f& T)
-  {
-    t.setTransform(R, T);
-  }
-
-  void setTransform(const SimpleQuaternion& q, const Vec3f& T)
-  {
-    t.setTransform(q, T);
-  }
-
-  bool isIdentityTransform() const
-  {
-    return t.isIdentity();
-  }
-
-  void setIdentityTransform()
-  {
-    t.setIdentity();
-  }
-
-protected:
-
-  /** AABB in global coordinate */
-  mutable AABB aabb;
-
-  /** AABB center in local coordinate */
-  Vec3f aabb_center;
-
-  /** AABB radius */
-  BVH_REAL aabb_radius;
-
-  SimpleTransform t;
-
-  /** pointer to user defined data specific to this object */
-  void *user_data;
-    
-};
-
-
 }
 
 #endif