Removing unused/unusable code

In a related issue (421) some code in the hierarchy tree was found to be
impossible. Specifically, it could not reasonably be expected to compile.
In fact, it couldn't. But it didn't cause problems because the functions
weren't actually exercised. Because the functions were templated, the
compiler just ignored them.

Given that no one is calling them, they clearly serve no purpose. So, they
are being cut out rather than fixed.

CHANGELOG.md

@@ -40,6 +40,8 @@
   * Enabled build with SSE option by default: [#159](https://github.com/flexible-collision-library/fcl/pull/159)
   * Added missing copyright headers:  [#149](https://github.com/flexible-collision-library/fcl/pull/149)
   * Added test utility for performing equality between Eigen matrix-types (`CompareMatrices` in `test/eign_matrix_compare.h`): [#316](https://github.com/flexible-collision-library/fcl/pull/316)
+  * Unused and uncompilable private methods removed from `HierarchyTree`.
+     [#439](https://github.com/flexible-collision-library/fcl/pull/439)
 
 ### FCL 0.5.0 (2016-07-19)
 

include/fcl/broadphase/detail/hierarchy_tree-inl.h

@@ -965,34 +965,6 @@ void HierarchyTree<BV>::recurseRefit(NodeType* node)
     return;
 }
 
-//==============================================================================
-template<typename BV>
-BV HierarchyTree<BV>::bounds(const std::vector<NodeType*>& leaves)
-{
-  if(leaves.size() == 0) return BV();
-  BV bv = leaves[0]->bv;
-  for(size_t i = 1; i < leaves.size(); ++i)
-  {
-    bv += leaves[i]->bv;
-  }
-
-  return bv;
-}
-
-//==============================================================================
-template<typename BV>
-BV HierarchyTree<BV>::bounds(const NodeVecIterator lbeg, const NodeVecIterator lend)
-{
-  if(lbeg == lend) return BV();
-  BV bv = *lbeg;
-  for(NodeVecIterator it = lbeg + 1; it < lend; ++it)
-  {
-    bv += (*it)->bv;
-  }
-
-  return bv;
-}
-
 //==============================================================================
 template<typename BV>
 bool nodeBaseLess(NodeBase<BV>* a, NodeBase<BV>* b, int d)
@@ -1077,46 +1049,6 @@ struct SelectImpl<S, AABB<S>>
     S d2 = fabs(v2[0]) + fabs(v2[1]) + fabs(v2[2]);
     return (d1 < d2) ? 0 : 1;
   }
-
-  static bool run(
-      const HierarchyTree<AABB<S>>& tree,
-      typename HierarchyTree<AABB<S>>::NodeType* leaf,
-      const AABB<S>& bv_,
-      const Vector3<S>& vel,
-      S margin)
-  {
-    AABB<S> bv(bv_);
-    if(leaf->bv.contain(bv)) return false;
-    Vector3<S> marginv(margin);
-    bv.min_ -= marginv;
-    bv.max_ += marginv;
-    if(vel[0] > 0) bv.max_[0] += vel[0];
-    else bv.min_[0] += vel[0];
-    if(vel[1] > 0) bv.max_[1] += vel[1];
-    else bv.min_[1] += vel[1];
-    if(vel[2] > 0) bv.max_[2] += vel[2];
-    else bv.min_[2] += vel[2];
-    tree.update(leaf, bv);
-    return true;
-  }
-
-  static bool run(
-      const HierarchyTree<AABB<S>>& tree,
-      typename HierarchyTree<AABB<S>>::NodeType* leaf,
-      const AABB<S>& bv_,
-      const Vector3<S>& vel)
-  {
-    AABB<S> bv(bv_);
-    if(leaf->bv.contain(bv)) return false;
-    if(vel[0] > 0) bv.max_[0] += vel[0];
-    else bv.min_[0] += vel[0];
-    if(vel[1] > 0) bv.max_[1] += vel[1];
-    else bv.min_[1] += vel[1];
-    if(vel[2] > 0) bv.max_[2] += vel[2];
-    else bv.min_[2] += vel[2];
-    tree.update(leaf, bv);
-    return true;
-  }
 };
 
 } // namespace detail

include/fcl/broadphase/detail/hierarchy_tree.h

@@ -223,10 +223,6 @@ class FCL_EXPORT HierarchyTree
 
   void recurseRefit(NodeType* node);
 
-  static BV bounds(const std::vector<NodeType*>& leaves);
-
-  static BV bounds(const NodeVecIterator lbeg, const NodeVecIterator lend);
-
 protected:
   NodeType* root_node;