Commit 148c3d91 authored by isucan's avatar isucan
Browse files

Merge pull request #13 from dartsim/master

Fix compiler/linker errors in Visual Studio introduced by recent commits 
parents 9cbd349b 20a24512
......@@ -6,7 +6,7 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
endif()
if(MSVC OR MSVC90 OR MSVC10)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /EHsc /MP /W1 /D_ITERATOR_DEBUG_LEVEL=0")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /EHsc /MP /W1")
endif(MSVC OR MSVC90 OR MSVC10)
if(CMAKE_CXX_COMPILER_ID STREQUAL "Intel")
......
......@@ -598,6 +598,11 @@ struct GJKSolver_indep
FCL_REAL gjk_max_iterations;
};
template<>
bool GJKSolver_indep::shapeIntersect<Sphere, Capsule>(const Sphere &s1, const Transform3f& tf1,
const Capsule &s2, const Transform3f& tf2,
Vec3f* contact_points, FCL_REAL* penetration_depth, Vec3f* normal) const;
/// @brief Fast implementation for sphere-sphere collision
template<>
bool GJKSolver_indep::shapeIntersect<Sphere, Sphere>(const Sphere& s1, const Transform3f& tf1,
......@@ -699,6 +704,11 @@ bool GJKSolver_indep::shapeTriangleIntersect(const Plane& s, const Transform3f&
const Vec3f& P1, const Vec3f& P2, const Vec3f& P3, const Transform3f& tf2, Vec3f* contact_points, FCL_REAL* penetration_depth, Vec3f* normal) const;
template<>
bool GJKSolver_indep::shapeDistance<Sphere, Capsule>(const Sphere& s1, const Transform3f& tf1,
const Capsule& s2, const Transform3f& tf2,
FCL_REAL* dist) const;
/// @brief Fast implementation for sphere-sphere distance
template<>
bool GJKSolver_indep::shapeDistance<Sphere, Sphere>(const Sphere& s1, const Transform3f& tf1,
......
......@@ -41,6 +41,10 @@
#include "fcl/shape/geometric_shapes.h"
#include "fcl/narrowphase/narrowphase.h"
#ifndef M_PI
#define M_PI 3.14159265358979323846
#endif
using namespace fcl;
BOOST_AUTO_TEST_CASE(Sphere_Capsule_Intersect_test_separated_z)
......
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