From 0ccee8467fa4d1aa400f7c46b52748a1656d9dfe Mon Sep 17 00:00:00 2001
From: jpan <jpan@253336fb-580f-4252-a368-f3cef5a2a82b>
Date: Fri, 6 Jan 2012 04:15:19 +0000
Subject: [PATCH] git-svn-id: https://kforge.ros.org/fcl/fcl_ros@56
253336fb-580f-4252-a368-f3cef5a2a82b
---
trunk/fcl/include/fcl/collision_object.h | 107 -----------------------
1 file changed, 107 deletions(-)
diff --git a/trunk/fcl/include/fcl/collision_object.h b/trunk/fcl/include/fcl/collision_object.h
index 9996a4c7..dabaf4d4 100644
--- a/trunk/fcl/include/fcl/collision_object.h
+++ b/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
--
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