Always compute distance lower bound in collisionRecurse.

  distance lower bound is necessary to compute security margin. In the previous
  state of the code, security margin was not computed if distance lower bound
  was not selected.

src/traversal/traversal_recurse.cpp

@@ -50,26 +50,14 @@ void collisionRecurse(CollisionTraversalNodeBase* node, int b1, int b2,
   {
     updateFrontList(front_list, b1, b2);
 
-    if (node->request.enable_distance_lower_bound) {
-      if(node->BVTesting(b1, b2, sqrDistLowerBound)) return;
-    } else {
-      if(node->BVTesting(b1, b2)) return;
-    }
-
+    if(node->BVTesting(b1, b2, sqrDistLowerBound)) return;
     node->leafTesting(b1, b2, sqrDistLowerBound);
     return;
   }
 
-  if (node->request.enable_distance_lower_bound) {
-    if(node->BVTesting(b1, b2, sqrDistLowerBound)) {
-      updateFrontList(front_list, b1, b2);
-      return;
-    }
-  } else {
-    if(node->BVTesting(b1, b2)) {
-      updateFrontList(front_list, b1, b2);
-      return;
-    }
+  if(node->BVTesting(b1, b2, sqrDistLowerBound)) {
+    updateFrontList(front_list, b1, b2);
+    return;
   }
   if(node->firstOverSecond(b1, b2))
   {
@@ -334,48 +322,25 @@ void propagateBVHFrontListCollisionRecurse
     }
     else
     {
-      if (node->request.enable_distance_lower_bound) {
-	if(!node->BVTesting(b1, b2, sqrDistLowerBound)) {
-	  front_iter->valid = false;
-	  if(node->firstOverSecond(b1, b2)) {
-	    int c1 = node->getFirstLeftChild(b1);
-	    int c2 = node->getFirstRightChild(b2);
-
-	    collisionRecurse(node, c1, b2, front_list, sqrDistLowerBound1);
-	    collisionRecurse(node, c2, b2, front_list, sqrDistLowerBound2);
-	    sqrDistLowerBound = std::min (sqrDistLowerBound1,
-					  sqrDistLowerBound2);
-	  } else {
-	    int c1 = node->getSecondLeftChild(b2);
-	    int c2 = node->getSecondRightChild(b2);
-	
-	    collisionRecurse(node, b1, c1, front_list, sqrDistLowerBound1);
-	    collisionRecurse(node, b1, c2, front_list, sqrDistLowerBound2);
-	    sqrDistLowerBound = std::min (sqrDistLowerBound1,
+      if(!node->BVTesting(b1, b2, sqrDistLowerBound)) {
+        front_iter->valid = false;
+        if(node->firstOverSecond(b1, b2)) {
+          int c1 = node->getFirstLeftChild(b1);
+          int c2 = node->getFirstRightChild(b2);
+
+          collisionRecurse(node, c1, b2, front_list, sqrDistLowerBound1);
+          collisionRecurse(node, c2, b2, front_list, sqrDistLowerBound2);
+          sqrDistLowerBound = std::min (sqrDistLowerBound1,
 					  sqrDistLowerBound2);
-	  }
-	}
-      } else {
-	if(!node->BVTesting(b1, b2)) {
-	  front_iter->valid = false;
-	  if(node->firstOverSecond(b1, b2)) {
-	    int c1 = node->getFirstLeftChild(b1);
-	    int c2 = node->getFirstRightChild(b2);
-
-	    collisionRecurse(node, c1, b2, front_list, sqrDistLowerBound1);
-	    collisionRecurse(node, c2, b2, front_list, sqrDistLowerBound2);
-	    sqrDistLowerBound = std::min (sqrDistLowerBound1,
-					  sqrDistLowerBound2);
-	  } else {
-	    int c1 = node->getSecondLeftChild(b2);
-	    int c2 = node->getSecondRightChild(b2);
-	
-	    collisionRecurse(node, b1, c1, front_list, sqrDistLowerBound1);
-	    collisionRecurse(node, b1, c2, front_list, sqrDistLowerBound2);
-	    sqrDistLowerBound = std::min (sqrDistLowerBound1,
+        } else {
+          int c1 = node->getSecondLeftChild(b2);
+          int c2 = node->getSecondRightChild(b2);
+
+          collisionRecurse(node, b1, c1, front_list, sqrDistLowerBound1);
+          collisionRecurse(node, b1, c2, front_list, sqrDistLowerBound2);
+          sqrDistLowerBound = std::min (sqrDistLowerBound1,
 					  sqrDistLowerBound2);
-	  }
-	}
+        }
       }
     }
     result.distance_lower_bound = sqrt (sqrDistLowerBound);