Todo List

Member coal::details::sphereCylinderDistance (const Sphere &s1, const Transform3s &tf1, const Cylinder &s2, const Transform3s &tf2, Vec3s &p1, Vec3s &p2, Vec3s &normal)

a tiny performance improvement could be achieved using the abscissa with S as the origin

Member coal::distance (const Matrix3s &R0, const Vec3s &T0, const kIOS &b1, const kIOS &b2, Vec3s *P=NULL, Vec3s *Q=NULL)

P and Q is not returned, need implementation

Member coal::MeshLoader::loadOctree (const std::string &filename)

add OctreePtr_t

Member coal::overlap (const Matrix3s &R0, const Vec3s &T0, const kIOS &b1, const kIOS &b2, const CollisionRequest &request, CoalScalar &sqrDistLowerBound)

Not efficient

Member coal::overlap (const Matrix3s &R0, const Vec3s &T0, const kIOS &b1, const kIOS &b2)

Not efficient

Member coal::RSS::operator+= (const Vec3s &p)

This function may have some bug.

Member orgQhull::Coordinates::mid (countT idx, countT length=-1) const

countT -1 indicates

Member orgQhull::QhullPoint::operator== (const QhullPoint &other) const

Compares distance with distance-to-hyperplane (distanceEpsilon). Is that correct?

Class orgQhull::QhullPoints::const_iterator

FIXUP QH11018 const_iterator same as iterator. SHould have a common definition

Member orgQhull::QhullVertexSet::QhullVertexSet (const QhullVertexSet &other)

Convert QhullVertexSet to a shared pointer with reference counting

Member orgQhull::RoadError::logErrorLastResort () const

Redesign with a thread-local stream or a reentrant ostringstream