Unimplement specific collisionRecurse for MeshCollisionTraversalNodeOBB*

  - throw exception if called.

src/traversal/traversal_recurse.cpp

@@ -99,89 +99,16 @@ void collisionRecurse(CollisionTraversalNodeBase* node, int b1, int b2,
   }
 }
 
-void collisionRecurse(MeshCollisionTraversalNodeOBB* node, int b1, int b2, const Matrix3f& R, const Vec3f& T, BVHFrontList* front_list)
+void collisionRecurse(MeshCollisionTraversalNodeOBB* node, int b1, int b2,
+		      const Matrix3f& R, const Vec3f& T,
+		      BVHFrontList* front_list)
 {
-  bool l1 = node->isFirstNodeLeaf(b1);
-  bool l2 = node->isSecondNodeLeaf(b2);
-
-  if(l1 && l2)
-  {
-    updateFrontList(front_list, b1, b2);
-
-    if(node->BVTesting(b1, b2, R, T)) return;
-
-    node->leafTesting(b1, b2, R, T);
-    return;
-  }
-
-  if(node->BVTesting(b1, b2, R, T))
-  {
-    updateFrontList(front_list, b1, b2);
-    return;
-  }
-
-  Vec3f temp;
-
-  if(node->firstOverSecond(b1, b2))
-  {
-    int c1 = node->getFirstLeftChild(b1);
-    int c2 = node->getFirstRightChild(b1);
-
-    const OBB& bv1 = node->model1->getBV(c1).bv;
-
-    Matrix3f Rc(R.transposeTimes(bv1.axis[0]), R.transposeTimes(bv1.axis[1]), R.transposeTimes(bv1.axis[2]));
-    temp = T - bv1.To;
-    Vec3f Tc(temp.dot(bv1.axis[0]), temp.dot(bv1.axis[1]), temp.dot(bv1.axis[2]));
-
-    collisionRecurse(node, c1, b2, Rc, Tc, front_list);
-
-    // early stop is disabled is front_list is used
-    if(node->canStop() && !front_list) return;
-
-    const OBB& bv2 = node->model1->getBV(c2).bv;
-
-    Rc = Matrix3f(R.transposeTimes(bv2.axis[0]), R.transposeTimes(bv2.axis[1]), R.transposeTimes(bv2.axis[2]));
-    temp = T - bv2.To;
-    Tc.setValue(temp.dot(bv2.axis[0]), temp.dot(bv2.axis[1]), temp.dot(bv2.axis[2]));
-
-    collisionRecurse(node, c2, b2, Rc, Tc, front_list);
-  }
-  else
-  {
-    int c1 = node->getSecondLeftChild(b2);
-    int c2 = node->getSecondRightChild(b2);
-
-    const OBB& bv1 = node->model2->getBV(c1).bv;
-    Matrix3f Rc;
-    temp = R * bv1.axis[0];
-    Rc(0, 0) = temp[0]; Rc(1, 0) = temp[1]; Rc(2, 0) = temp[2];
-    temp = R * bv1.axis[1];
-    Rc(0, 1) = temp[0]; Rc(1, 1) = temp[1]; Rc(2, 1) = temp[2];
-    temp = R * bv1.axis[2];
-    Rc(0, 2) = temp[0]; Rc(1, 2) = temp[1]; Rc(2, 2) = temp[2];
-    Vec3f Tc = R * bv1.To + T;
-
-    collisionRecurse(node, b1, c1, Rc, Tc, front_list);
-
-    // early stop is disabled is front_list is used
-    if(node->canStop() && !front_list) return;
-
-    const OBB& bv2 = node->model2->getBV(c2).bv;
-    temp = R * bv2.axis[0];
-    Rc(0, 0) = temp[0]; Rc(1, 0) = temp[1]; Rc(2, 0) = temp[2];
-    temp = R * bv2.axis[1];
-    Rc(0, 1) = temp[0]; Rc(1, 1) = temp[1]; Rc(2, 1) = temp[2];
-    temp = R * bv2.axis[2];
-    Rc(0, 2) = temp[0]; Rc(1, 2) = temp[1]; Rc(2, 2) = temp[2];
-    Tc = R * bv2.To + T;
-
-    collisionRecurse(node, b1, c2, Rc, Tc, front_list);
-  }
+  throw std::runtime_error ("Not implemented.");
 }
 
 void collisionRecurse(MeshCollisionTraversalNodeRSS* node, int b1, int b2, const Matrix3f& R, const Vec3f& T, BVHFrontList* front_list)
 {
-
+  throw std::runtime_error ("Not implemented.");
 }
 
 /** Recurse function for self collision