since we do not know when to stop colliding two broad pahse managers, we do not include that API

git-svn-id: https://kforge.ros.org/fcl/fcl_ros@63 253336fb-580f-4252-a368-f3cef5a2a82b

trunk/fcl/include/fcl/broad_phase_collision.h

@@ -84,9 +84,6 @@ public:
   /** \brief perform collision test for the objects belonging to the manager (i.e., N^2 self collision) */
   virtual void collide(void* cdata, CollisionCallBack callback) const = 0;
 
-  /** \brief perform collision test for all pairs of objects belonging to the \e other manager */
-  virtual void collide(const BroadPhaseCollisionManager *other, void* cdata, CollisionCallBack callback) const;
-  
   /** \brief whether the manager is empty */
   virtual bool empty() const = 0;
   

trunk/fcl/src/broad_phase_collision.cpp

@@ -69,19 +69,6 @@ bool defaultCollisionFunction(CollisionObject* o1, CollisionObject* o2, void* cd
   return cdata->done;
 }
 
-void BroadPhaseCollisionManager::collide(const BroadPhaseCollisionManager *other, void* cdata, CollisionCallBack callback) const
-{
-  if (other->size() < size())
-    other->collide(this, cdata, callback);
-  else
-  {
-    std::vector<CollisionObject*> objs;
-    getObjects(objs);
-    for (std::size_t i = 0 ; i < objs.size() ; ++i)
-      other->collide(objs[i], cdata, callback);
-  }
-}
-
 void NaiveCollisionManager::unregisterObject(CollisionObject* obj)
 {
   objs.remove(obj);