From 5a95d5b2577167c82beba611295995320425b7aa Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Fri, 23 Nov 2018 17:48:49 +0100
Subject: [PATCH] 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 | 3 ---
include/hpp/fcl/traversal/traversal_recurse.h | 3 ---
src/collision_node.cpp | 14 --------------
src/traversal/traversal_recurse.cpp | 19 -------------------
4 files changed, 39 deletions(-)
diff --git a/include/hpp/fcl/collision_node.h b/include/hpp/fcl/collision_node.h
index f0076f24..0cd6ad63 100644
--- a/include/hpp/fcl/collision_node.h
+++ b/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);
}
diff --git a/include/hpp/fcl/traversal/traversal_recurse.h b/include/hpp/fcl/traversal/traversal_recurse.h
index 4000a930..2f54d006 100644
--- a/include/hpp/fcl/traversal/traversal_recurse.h
+++ b/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);
diff --git a/src/collision_node.cpp b/src/collision_node.cpp
index dd277b2a..1f6b3aff 100644
--- a/src/collision_node.cpp
+++ b/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();
diff --git a/src/traversal/traversal_recurse.cpp b/src/traversal/traversal_recurse.cpp
index fa72b346..f522353f 100644
--- a/src/traversal/traversal_recurse.cpp
+++ b/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);
--
GitLab