Remove unused functions

  - void selfCollisionRecurse(CollisionTraversalNodeBase* node, int b,
                              BVHFrontList* front_list),
  - void selfCollide(CollisionTraversalNodeBase* node,
                     BVHFrontList* front_list).

include/hpp/fcl/collision_node.h

@@ -60,9 +60,6 @@ namespace fcl
   void collide(CollisionTraversalNodeBase* node, FCL_REAL& sqrDistLowerBound,
 	       BVHFrontList* front_list = NULL);
 
-/// @brief self collision on collision traversal node; can use front list to accelerate
-void selfCollide(CollisionTraversalNodeBase* node, BVHFrontList* front_list = NULL);
-
 /// @brief distance computation on distance traversal node; can use front list to accelerate
 void distance(DistanceTraversalNodeBase* node, BVHFrontList* front_list = NULL, int qsize = 2);
 }

include/hpp/fcl/traversal/traversal_recurse.h

@@ -60,9 +60,6 @@ void collisionRecurse(MeshCollisionTraversalNodeOBB* node, int b1, int b2, const
 /// @brief Recurse function for collision, specialized for RSS type
 void collisionRecurse(MeshCollisionTraversalNodeRSS* node, int b1, int b2, const Matrix3f& R, const Vec3f& T, BVHFrontList* front_list);
 
-/// @brief Recurse function for self collision. Make sure node is set correctly so that the first and second tree are the same
-void selfCollisionRecurse(CollisionTraversalNodeBase* node, int b, BVHFrontList* front_list);
-
 /// @brief Recurse function for distance
 void distanceRecurse(DistanceTraversalNodeBase* node, int b1, int b2, BVHFrontList* front_list);
 

src/collision_node.cpp

@@ -55,20 +55,6 @@ void collide(CollisionTraversalNodeBase* node, FCL_REAL& sqrDistLowerBound,
   }
 }
 
-void selfCollide(CollisionTraversalNodeBase* node, BVHFrontList* front_list)
-{
-
-  FCL_REAL sqrDistLowerBound = 0;
-  if(front_list && front_list->size() > 0)
-  {
-    propagateBVHFrontListCollisionRecurse(node, front_list, sqrDistLowerBound);
-  }
-  else
-  {
-    selfCollisionRecurse(node, 0, front_list);
-  }
-}
-
 void distance(DistanceTraversalNodeBase* node, BVHFrontList* front_list, int qsize)
 {
   node->preprocess();

src/traversal/traversal_recurse.cpp

@@ -114,25 +114,6 @@ void collisionRecurse(MeshCollisionTraversalNodeRSS* node, int b1, int b2, const
 /** Recurse function for self collision
  * Make sure node is set correctly so that the first and second tree are the same
  */
-void selfCollisionRecurse(CollisionTraversalNodeBase* node, int b, BVHFrontList* front_list)
-{
-  FCL_REAL sqrDistLowerBound;
-  bool l = node->isFirstNodeLeaf(b);
-
-  if(l) return;
-
-  int c1 = node->getFirstLeftChild(b);
-  int c2 = node->getFirstRightChild(b);
-
-  selfCollisionRecurse(node, c1, front_list);
-  if(node->canStop() && !front_list) return;
-
-  selfCollisionRecurse(node, c2, front_list);
-  if(node->canStop() && !front_list) return;
-
-  collisionRecurse(node, c1, c2, front_list, sqrDistLowerBound);
-}
-
 void distanceRecurse(DistanceTraversalNodeBase* node, int b1, int b2, BVHFrontList* front_list)
 {
   bool l1 = node->isFirstNodeLeaf(b1);