From 0d1950a78b39b7aadc200a88935e0718f83c0011 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Sat, 2 Apr 2016 11:26:58 +0200
Subject: [PATCH] Fix ambiguous else warnings
---
src/narrowphase/narrowphase.cpp | 22 +++++++++++-----------
1 file changed, 11 insertions(+), 11 deletions(-)
diff --git a/src/narrowphase/narrowphase.cpp b/src/narrowphase/narrowphase.cpp
index 9b4c28fc..dfa5da3c 100644
--- a/src/narrowphase/narrowphase.cpp
+++ b/src/narrowphase/narrowphase.cpp
@@ -1882,7 +1882,7 @@ bool spherePlaneIntersect(const Sphere& s1, const Transform3f& tf1,
FCL_REAL depth = - std::abs(signed_dist) + s1.radius;
if(depth >= 0)
{
- if(normal) if (signed_dist > 0) *normal = -new_s2.n; else *normal = new_s2.n;
+ if(normal) { if (signed_dist > 0) *normal = -new_s2.n; else *normal = new_s2.n; }
if(penetration_depth) *penetration_depth = depth;
if(contact_points) *contact_points = center - new_s2.n * signed_dist;
@@ -1958,7 +1958,7 @@ bool boxPlaneIntersect(const Box& s1, const Transform3f& tf1,
// compute the contact point by project the deepest point onto the plane
if(penetration_depth) *penetration_depth = depth;
- if(normal) if (signed_dist > 0) *normal = -new_s2.n; else *normal = new_s2.n;
+ if(normal) { if (signed_dist > 0) *normal = -new_s2.n; else *normal = new_s2.n; }
if(contact_points) *contact_points = p - new_s2.n * new_s2.signedDistance(p);
return true;
@@ -2025,13 +2025,13 @@ bool capsulePlaneIntersect(const Capsule& s1, const Transform3f& tf1,
{
if(penetration_depth) *penetration_depth = abs_d1 + s1.radius;
if(contact_points) *contact_points = p1 * (abs_d2 / (abs_d1 + abs_d2)) + p2 * (abs_d1 / (abs_d1 + abs_d2));
- if(normal) if (d1 < 0) *normal = -new_s2.n; else *normal = new_s2.n;
+ if(normal) { if (d1 < 0) *normal = -new_s2.n; else *normal = new_s2.n; }
}
else
{
if(penetration_depth) *penetration_depth = abs_d2 + s1.radius;
if(contact_points) *contact_points = p1 * (abs_d2 / (abs_d1 + abs_d2)) + p2 * (abs_d1 / (abs_d1 + abs_d2));
- if(normal) if (d2 < 0) *normal = -new_s2.n; else *normal = new_s2.n;
+ if(normal) { if (d2 < 0) *normal = -new_s2.n; else *normal = new_s2.n; }
}
return true;
}
@@ -2062,7 +2062,7 @@ bool capsulePlaneIntersect(const Capsule& s1, const Transform3f& tf1,
}
}
- if(normal) if (d1 < 0) *normal = new_s2.n; else *normal = -new_s2.n;
+ if(normal) { if (d1 < 0) *normal = new_s2.n; else *normal = -new_s2.n; }
return true;
}
}
@@ -2117,7 +2117,7 @@ bool cylinderPlaneIntersect(const Cylinder& s1, const Transform3f& tf1,
else
{
if(penetration_depth) *penetration_depth = depth;
- if(normal) if (d < 0) *normal = new_s2.n; else *normal = -new_s2.n;
+ if(normal) { if (d < 0) *normal = new_s2.n; else *normal = -new_s2.n; }
if(contact_points) *contact_points = T - new_s2.n * d;
return true;
}
@@ -2161,13 +2161,13 @@ bool cylinderPlaneIntersect(const Cylinder& s1, const Transform3f& tf1,
{
if(penetration_depth) *penetration_depth = abs_d2;
if(contact_points) *contact_points = c2 - new_s2.n * d2;
- if(normal) if (d2 < 0) *normal = -new_s2.n; else *normal = new_s2.n;
+ if(normal) { if (d2 < 0) *normal = -new_s2.n; else *normal = new_s2.n; }
}
else
{
if(penetration_depth) *penetration_depth = abs_d1;
if(contact_points) *contact_points = c1 - new_s2.n * d1;
- if(normal) if (d1 < 0) *normal = -new_s2.n; else *normal = new_s2.n;
+ if(normal) { if (d1 < 0) *normal = -new_s2.n; else *normal = new_s2.n; }
}
return true;
}
@@ -2197,7 +2197,7 @@ bool conePlaneIntersect(const Cone& s1, const Transform3f& tf1,
else
{
if(penetration_depth) *penetration_depth = depth;
- if(normal) if (d < 0) *normal = new_s2.n; else *normal = -new_s2.n;
+ if(normal) { if (d < 0) *normal = new_s2.n; else *normal = -new_s2.n; }
if(contact_points) *contact_points = T - dir_z * (0.5 * s1.lz) + dir_z * (0.5 * depth / s1.radius * s1.lz) - new_s2.n * d;
return true;
}
@@ -2248,7 +2248,7 @@ bool conePlaneIntersect(const Cone& s1, const Transform3f& tf1,
}
if(penetration_depth) *penetration_depth = std::min(d_positive, d_negative);
- if(normal) if (d_positive > d_negative) *normal = -new_s2.n; else *normal = new_s2.n;
+ if(normal) { if (d_positive > d_negative) *normal = -new_s2.n; else *normal = new_s2.n; }
if(contact_points)
{
Vec3f p[2];
@@ -2367,7 +2367,7 @@ bool planeTriangleIntersect(const Plane& s1, const Transform3f& tf1,
}
if(penetration_depth) *penetration_depth = std::min(d_positive, d_negative);
- if(normal) if (d_positive > d_negative) *normal = new_s1.n; else *normal = -new_s1.n;
+ if(normal) { if (d_positive > d_negative) *normal = new_s1.n; else *normal = -new_s1.n; }
if(contact_points)
{
Vec3f p[2];
--
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