fwd: add macro to turn assert into exception

CMakeLists.txt

@@ -130,6 +130,8 @@ else()
   CHECK_MINIMAL_CXX_STANDARD(14 ENFORCE)
 endif()
 
+option(HPP_FCL_TURN_ASSERT_INTO_EXCEPTION "turn some critical HPP-FCL asserts to exception." FALSE)
+
 # Optional dependencies
 ADD_PROJECT_DEPENDENCY(octomap PKG_CONFIG_REQUIRES "octomap >= 1.6")
 if(octomap_FOUND)

include/hpp/fcl/fwd.hh

@@ -70,6 +70,19 @@
     throw exception(ss.str());                                \
   }
 
+#ifdef HPP_FCL_TURN_ASSERT_INTO_EXCEPTION
+#define HPP_FCL_ASSERT(check, message, exception)         \
+  {                                                       \
+    if (!check) HPP_FCL_THROW_PRETTY(message, exception); \
+  }
+#else
+#define HPP_FCL_ASSERT(check, message, exception) \
+  {                                               \
+    HPP_FCL_UNUSED_VARIABLE(exception(message));  \
+    assert(check&& message);                      \
+  }
+#endif
+
 #if (__cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600))
 #define HPP_FCL_WITH_CXX11_SUPPORT
 #endif

src/CMakeLists.txt

@@ -210,6 +210,10 @@ IF(WIN32)
   )
 ENDIF(WIN32)
 
+if (HPP_FCL_TURN_ASSERT_INTO_EXCEPTION)
+  target_compile_definitions(${LIBRARY_NAME} PRIVATE -DHPP_FCL_TURN_ASSERT_INTO_EXCEPTION)
+endif()
+
 if(HPP_FCL_HAS_QHULL)
   target_compile_definitions(${LIBRARY_NAME} PRIVATE -DHPP_FCL_HAS_QHULL)
   if (HPP_FCL_USE_SYSTEM_QHULL)