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): Not efficient
Member coal::overlap (const Matrix3s &R0, const Vec3s &T0, const kIOS &b1, const kIOS &b2, const CollisionRequest &request, Scalar &sqrDistLowerBound): Not efficient
Member coal::RSS::operator+= (const Vec3s &p): This function may have some bug.