Fix Distance grid and simplify fix for OBB

Author: bakpaul

applications/plugins/CollisionOBBCapsule/src/CollisionOBBCapsule/response/contact/OBBContact.cpp

@@ -58,11 +58,6 @@ template class COLLISIONOBBCAPSULE_API response::contact::BarycentricPenalityCon
 template class COLLISIONOBBCAPSULE_API response::contact::BarycentricPenalityContact<collision::geometry::TriangleCollisionModel<sofa::defaulttype::Vec3Types>, OBBCollisionModel<sofa::defaulttype::Rigid3Types>>;
 template class COLLISIONOBBCAPSULE_API response::contact::BarycentricPenalityContact<collision::geometry::CylinderCollisionModel<sofa::defaulttype::Rigid3Types>, OBBCollisionModel<sofa::defaulttype::Rigid3Types>>;
 
-template class COLLISIONOBBCAPSULE_API response::contact::BaseUnilateralContactResponse<OBBCollisionModel<sofa::defaulttype::Rigid3Types>, OBBCollisionModel<sofa::defaulttype::Rigid3Types>, sofa::component::constraint::lagrangian::model::UnilateralLagrangianContactParameters>;
-template class COLLISIONOBBCAPSULE_API response::contact::BaseUnilateralContactResponse<collision::geometry::SphereCollisionModel<sofa::defaulttype::Vec3Types>, OBBCollisionModel<sofa::defaulttype::Rigid3Types>, sofa::component::constraint::lagrangian::model::UnilateralLagrangianContactParameters>;
-template class COLLISIONOBBCAPSULE_API response::contact::BaseUnilateralContactResponse<collision::geometry::TriangleCollisionModel<sofa::defaulttype::Vec3Types>, OBBCollisionModel<sofa::defaulttype::Rigid3Types>, sofa::component::constraint::lagrangian::model::UnilateralLagrangianContactParameters>;
-template class COLLISIONOBBCAPSULE_API response::contact::BaseUnilateralContactResponse<RigidSphereModel, OBBCollisionModel<sofa::defaulttype::Rigid3Types>, sofa::component::constraint::lagrangian::model::UnilateralLagrangianContactParameters>;
-
 template class COLLISIONOBBCAPSULE_API response::contact::FrictionContact<OBBCollisionModel<sofa::defaulttype::Rigid3Types>, OBBCollisionModel<sofa::defaulttype::Rigid3Types>>;
 template class COLLISIONOBBCAPSULE_API response::contact::FrictionContact<collision::geometry::SphereCollisionModel<sofa::defaulttype::Vec3Types>, OBBCollisionModel<sofa::defaulttype::Rigid3Types>>;
 template class COLLISIONOBBCAPSULE_API response::contact::FrictionContact<collision::geometry::TriangleCollisionModel<sofa::defaulttype::Vec3Types>, OBBCollisionModel<sofa::defaulttype::Rigid3Types>>;

applications/plugins/SofaDistanceGrid/src/SofaDistanceGrid/RegisterModelToCollisionFactory.cpp

@@ -35,6 +35,7 @@ using sofa::core::collision::Contact ;
 
 #include <sofa/component/collision/response/contact/FrictionContact.inl>
 #include <sofa/component/collision/response/contact/BarycentricStickContact.inl>
+#include <sofa/component/collision/response/contact/BaseUnilateralContactResponse.inl>
 
 #include "components/collision/DistanceGridCollisionModel.h"
 #include "components/collision/FFDDistanceGridDiscreteIntersection.h"