core: removing setting gjk related stuff (already set by collide/dist…

…ance functions and functors)
coal-library · Jun 2, 2022 · db25e42 · db25e42
1 parent 99310ab
commit db25e42
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diff --git a/src/collision_func_matrix.cpp b/src/collision_func_matrix.cpp
@@ -80,12 +80,6 @@ std::size_t ShapeShapeCollide(const CollisionGeometry* o1,
 
   DistanceResult distanceResult;
   DistanceRequest distanceRequest(request.enable_contact);
-  nsolver->gjk_variant = request.gjk_variant;
-  nsolver->gjk_convergence_criterion = request.gjk_convergence_criterion;
-  nsolver->gjk_convergence_criterion_type =
-      request.gjk_convergence_criterion_type;
-  nsolver->gjk_tolerance = request.gjk_tolerance;
-  nsolver->gjk_max_iterations = request.gjk_max_iterations;
   FCL_REAL distance = ShapeShapeDistance<T_SH1, T_SH2>(
       o1, tf1, o2, tf2, nsolver, distanceRequest, distanceResult);
 

diff --git a/src/distance_func_matrix.cpp b/src/distance_func_matrix.cpp
@@ -77,13 +77,6 @@ FCL_REAL ShapeShapeDistance(const CollisionGeometry* o1, const Transform3f& tf1,
   const T_SH1* obj1 = static_cast<const T_SH1*>(o1);
   const T_SH2* obj2 = static_cast<const T_SH2*>(o2);
 
-  nsolver->gjk_variant = request.gjk_variant;
-  nsolver->gjk_convergence_criterion = request.gjk_convergence_criterion;
-  nsolver->gjk_convergence_criterion_type =
-      request.gjk_convergence_criterion_type;
-  nsolver->gjk_tolerance = request.gjk_tolerance;
-  nsolver->gjk_max_iterations = request.gjk_max_iterations;
-
   initialize(node, *obj1, tf1, *obj2, tf2, nsolver, request, result);
   distance(&node);