[GJK] rank is of type short int.

include/hpp/fcl/narrowphase/gjk.h

@@ -125,7 +125,7 @@ struct GJK
     /// @brief weight 
     FCL_REAL coefficient[4];
     /// @brief size of simplex (number of vertices)
-    size_t rank;
+    short rank;
 
     Simplex() : rank(0) {}
   };

include/hpp/fcl/narrowphase/narrowphase.h

@@ -128,7 +128,7 @@ namespace fcl
             details::EPA::Status epa_status = epa.evaluate(gjk, -guess);
             assert (epa_status != details::EPA::Failed); (void) epa_status;
             Vec3f w0 (Vec3f::Zero());
-            for(size_t i = 0; i < epa.result.rank; ++i)
+            for(short i = 0; i < epa.result.rank; ++i)
               {
                 w0 += epa.result.vertex[i]->w0 * epa.result.coefficient[i];
               }
@@ -217,7 +217,7 @@ namespace fcl
               if(epa_status != details::EPA::Failed)
                 {
                   Vec3f w0 (Vec3f::Zero());
-                  for(size_t i = 0; i < epa.result.rank; ++i)
+                  for(short i = 0; i < epa.result.rank; ++i)
                     {
                       w0 += epa.result.vertex[i]->w0 * epa.result.coefficient[i];
                     }

src/narrowphase/gjk.cpp

@@ -312,7 +312,7 @@ bool GJK::getClosestPoints (const MinkowskiDiff& shape, Vec3f& w0, Vec3f& w1) co
 {
   w0.setZero();
   w1.setZero();
-  for(size_t i = 0; i < getSimplex()->rank; ++i)
+  for(short i = 0; i < getSimplex()->rank; ++i)
   {
     FCL_REAL p = getSimplex()->coefficient[i];
     w0 += getSimplex()->vertex[i]->w0 * p;
@@ -391,8 +391,8 @@ GJK::Status GJK::evaluate(const MinkowskiDiff& shape_, const Vec3f& guess)
         assert (fabs(d-project_res.sqr_distance) < 1e-10);
 
         Vec3f _ray(0,0,0);
-        size_t k = 0;
-        for(size_t i = 0; i < curr_simplex.rank; ++i)
+        short k = 0;
+        for(short i = 0; i < curr_simplex.rank; ++i)
         {
           if(project_res.encode & (1 << i))
           {
@@ -418,8 +418,8 @@ GJK::Status GJK::evaluate(const MinkowskiDiff& shape_, const Vec3f& guess)
         assert (fabs(d-project_res.sqr_distance) < 1e-10);
 
         Vec3f _ray(0,0,0);
-        size_t k = 0;
-        for(size_t i = 0; i < curr_simplex.rank; ++i)
+        short k = 0;
+        for(short i = 0; i < curr_simplex.rank; ++i)
         {
           if(project_res.encode & (1 << i))
           {
@@ -447,7 +447,7 @@ GJK::Status GJK::evaluate(const MinkowskiDiff& shape_, const Vec3f& guess)
       if (curr_simplex.rank > 3) {
       next_simplex.rank = 0;
       ray = Vec3f(0,0,0);
-      for(size_t i = 0; i < curr_simplex.rank; ++i)
+      for(short i = 0; i < curr_simplex.rank; ++i)
       {
         if(project_res.encode & (1 << i))
         {