MeshCollisionTraversalNodeRSS: definition of 2 member functions missing

[SpaceIm]

In include/fcl/narrowphase/detail/traversal/collision/mesh_collision_traversal_node.h, the template class MeshCollisionTraversalNodeRSS declares several member functions.

Two of them don't have definitions in corresponding inl.h:
bool BVTesting(int b1, int b2, const Transform3<S>& tf) const
void leafTesting(int b1, int b2, const Transform3<S>& tf) const

[SeanCurtis-TRI]

I can't say I'm surprised. We've encountered that for (#421 resolved by #439). There are apparently multiple corners of FCL with out-dated/untested artifacts. Since we've only really focused on the slice of FCL that affects us the most, we have no idea how many more are lurking.

So, thanks for catching this one out. We'll add it to the queue.

[SpaceIm]

Those are the only 2 members functions without definitions Visual Studio reported during compilation.

There is also something, slightly different, for which Visual Studio reports a warning: it says that there is no definition for size_t fcl::detail::morton_functor<double,fcl::uint32>::bits(void) while compiling broadphase_dynamic_AABB_tree.cpp and broadphase_dynamic_AABB_tree_array.cpp.
Actually, there is a definition for this member function (in morton-inl.h). I suspect something not totally clean about how specialization of morton_functor is done, but I don't know what.

[jmirabel]

The reason it was left unimplemented may be that RSS are most useful for distance queries. For collision queries, OBB are better and if you need both collision and distance queries, then use OBBRSS.

[SteB0]

Hi, I got a similar warning at compilation. Have you already fixed your problem?

fcl-master\src\broadphase\broadphase_dynamic_AABB_tree_array.cpp(47): warning C4506: Keine Definition für Inlinefunktion "size_t fcl::detail::morton_functor<double,fcl::uint32>::bits(void)"

tried with Visual Studio 2017 professional