From 5347ca4d1ad7ff122545055da97f8218bc1aa382 Mon Sep 17 00:00:00 2001
From: Justin Carpentier <jcarpent@laas.fr>
Date: Tue, 16 Jan 2018 15:36:48 +0100
Subject: [PATCH] [All] Propagate change of FCL_WITH_OCTOMAP definition
---
include/hpp/fcl/math/vec_3f.h | 2 +-
include/hpp/fcl/traversal/traversal_node_setup.h | 4 ++--
src/broadphase/broadphase_dynamic_AABB_tree.cpp | 8 ++++----
src/broadphase/broadphase_dynamic_AABB_tree_array.cpp | 10 +++++-----
src/collision_func_matrix.cpp | 4 ++--
src/distance_func_matrix.cpp | 4 ++--
6 files changed, 16 insertions(+), 16 deletions(-)
diff --git a/include/hpp/fcl/math/vec_3f.h b/include/hpp/fcl/math/vec_3f.h
index a3568f87..c6590e99 100644
--- a/include/hpp/fcl/math/vec_3f.h
+++ b/include/hpp/fcl/math/vec_3f.h
@@ -55,7 +55,7 @@ namespace fcl
}
-#if FCL_HAVE_OCTOMAP
+#ifdef FCL_HAVE_OCTOMAP
#define OCTOMAP_VERSION_AT_LEAST(x,y,z) \
(OCTOMAP_MAJOR_VERSION > x || (OCTOMAP_MAJOR_VERSION >= x && \
(OCTOMAP_MINOR_VERSION > y || (OCTOMAP_MINOR_VERSION >= y && \
diff --git a/include/hpp/fcl/traversal/traversal_node_setup.h b/include/hpp/fcl/traversal/traversal_node_setup.h
index bcde2941..5b8a84e2 100644
--- a/include/hpp/fcl/traversal/traversal_node_setup.h
+++ b/include/hpp/fcl/traversal/traversal_node_setup.h
@@ -43,7 +43,7 @@
#include <hpp/fcl/traversal/traversal_node_shapes.h>
#include <hpp/fcl/traversal/traversal_node_bvh_shape.h>
-#if FCL_HAVE_OCTOMAP
+#ifdef FCL_HAVE_OCTOMAP
#include <hpp/fcl/traversal/traversal_node_octree.h>
#endif
@@ -52,7 +52,7 @@
namespace fcl
{
-#if FCL_HAVE_OCTOMAP
+#ifdef FCL_HAVE_OCTOMAP
/// @brief Initialize traversal node for collision between two octrees, given current object transform
template<typename NarrowPhaseSolver>
bool initialize(OcTreeCollisionTraversalNode<NarrowPhaseSolver>& node,
diff --git a/src/broadphase/broadphase_dynamic_AABB_tree.cpp b/src/broadphase/broadphase_dynamic_AABB_tree.cpp
index fc7ca351..b4a6abaf 100644
--- a/src/broadphase/broadphase_dynamic_AABB_tree.cpp
+++ b/src/broadphase/broadphase_dynamic_AABB_tree.cpp
@@ -38,7 +38,7 @@
#include <hpp/fcl/broadphase/broadphase_dynamic_AABB_tree.h>
-#if FCL_HAVE_OCTOMAP
+#ifdef FCL_HAVE_OCTOMAP
#include <hpp/fcl/octree.h>
#endif
@@ -51,7 +51,7 @@ namespace details
namespace dynamic_AABB_tree
{
-#if FCL_HAVE_OCTOMAP
+#ifdef FCL_HAVE_OCTOMAP
bool collisionRecurse_(DynamicAABBTreeCollisionManager::DynamicAABBNode* root1, const OcTree* tree2, const OcTree::OcTreeNode* root2, const AABB& root2_bv, const Transform3f& tf2, void* cdata, CollisionCallBack callback)
{
if(!root2)
@@ -744,7 +744,7 @@ void DynamicAABBTreeCollisionManager::collide(CollisionObject* obj, void* cdata,
if(size() == 0) return;
switch(obj->collisionGeometry()->getNodeType())
{
-#if FCL_HAVE_OCTOMAP
+#ifdef FCL_HAVE_OCTOMAP
case GEOM_OCTREE:
{
if(!octree_as_geometry_collide)
@@ -768,7 +768,7 @@ void DynamicAABBTreeCollisionManager::distance(CollisionObject* obj, void* cdata
FCL_REAL min_dist = std::numeric_limits<FCL_REAL>::max();
switch(obj->collisionGeometry()->getNodeType())
{
-#if FCL_HAVE_OCTOMAP
+#ifdef FCL_HAVE_OCTOMAP
case GEOM_OCTREE:
{
if(!octree_as_geometry_distance)
diff --git a/src/broadphase/broadphase_dynamic_AABB_tree_array.cpp b/src/broadphase/broadphase_dynamic_AABB_tree_array.cpp
index 717452d7..b994e34c 100644
--- a/src/broadphase/broadphase_dynamic_AABB_tree_array.cpp
+++ b/src/broadphase/broadphase_dynamic_AABB_tree_array.cpp
@@ -37,7 +37,7 @@
#include <hpp/fcl/broadphase/broadphase_dynamic_AABB_tree_array.h>
-#if FCL_HAVE_OCTOMAP
+#ifdef FCL_HAVE_OCTOMAP
#include <hpp/fcl/octree.h>
#endif
@@ -50,7 +50,7 @@ namespace details
namespace dynamic_AABB_tree_array
{
-#if FCL_HAVE_OCTOMAP
+#ifdef FCL_HAVE_OCTOMAP
bool collisionRecurse_(DynamicAABBTreeCollisionManager_Array::DynamicAABBNode* nodes1, size_t root1_id, const OcTree* tree2, const OcTree::OcTreeNode* root2, const AABB& root2_bv, const Transform3f& tf2, void* cdata, CollisionCallBack callback)
{
DynamicAABBTreeCollisionManager_Array::DynamicAABBNode* root1 = nodes1 + root1_id;
@@ -631,7 +631,7 @@ bool selfDistanceRecurse(DynamicAABBTreeCollisionManager_Array::DynamicAABBNode*
}
-#if FCL_HAVE_OCTOMAP
+#ifdef FCL_HAVE_OCTOMAP
bool collisionRecurse(DynamicAABBTreeCollisionManager_Array::DynamicAABBNode* nodes1, size_t root1_id, const OcTree* tree2, const OcTree::OcTreeNode* root2, const AABB& root2_bv, const Transform3f& tf2, void* cdata, CollisionCallBack callback)
{
if(isQuatIdentity(tf2.getQuatRotation()))
@@ -769,7 +769,7 @@ void DynamicAABBTreeCollisionManager_Array::collide(CollisionObject* obj, void*
if(size() == 0) return;
switch(obj->collisionGeometry()->getNodeType())
{
-#if FCL_HAVE_OCTOMAP
+#ifdef FCL_HAVE_OCTOMAP
case GEOM_OCTREE:
{
if(!octree_as_geometry_collide)
@@ -793,7 +793,7 @@ void DynamicAABBTreeCollisionManager_Array::distance(CollisionObject* obj, void*
FCL_REAL min_dist = std::numeric_limits<FCL_REAL>::max();
switch(obj->collisionGeometry()->getNodeType())
{
-#if FCL_HAVE_OCTOMAP
+#ifdef FCL_HAVE_OCTOMAP
case GEOM_OCTREE:
{
if(!octree_as_geometry_distance)
diff --git a/src/collision_func_matrix.cpp b/src/collision_func_matrix.cpp
index f3f50788..3c13368b 100644
--- a/src/collision_func_matrix.cpp
+++ b/src/collision_func_matrix.cpp
@@ -46,7 +46,7 @@
namespace fcl
{
-#if FCL_HAVE_OCTOMAP
+#ifdef FCL_HAVE_OCTOMAP
template<typename T_SH, typename NarrowPhaseSolver>
std::size_t ShapeOcTreeCollide(const CollisionGeometry* o1, const Transform3f& tf1, const CollisionGeometry* o2, const Transform3f& tf2,
const NarrowPhaseSolver* nsolver,
@@ -647,7 +647,7 @@ CollisionFunctionMatrix<NarrowPhaseSolver>::CollisionFunctionMatrix()
collision_matrix[BV_kIOS][BV_kIOS] = &BVHCollide<kIOS, NarrowPhaseSolver>;
collision_matrix[BV_OBBRSS][BV_OBBRSS] = &BVHCollide<OBBRSS, NarrowPhaseSolver>;
-#if FCL_HAVE_OCTOMAP
+#ifdef FCL_HAVE_OCTOMAP
collision_matrix[GEOM_OCTREE][GEOM_BOX] = &OcTreeShapeCollide<Box, NarrowPhaseSolver>;
collision_matrix[GEOM_OCTREE][GEOM_SPHERE] = &OcTreeShapeCollide<Sphere, NarrowPhaseSolver>;
collision_matrix[GEOM_OCTREE][GEOM_CAPSULE] = &OcTreeShapeCollide<Capsule, NarrowPhaseSolver>;
diff --git a/src/distance_func_matrix.cpp b/src/distance_func_matrix.cpp
index ac7de3f3..19012b31 100644
--- a/src/distance_func_matrix.cpp
+++ b/src/distance_func_matrix.cpp
@@ -44,7 +44,7 @@
namespace fcl
{
-#if FCL_HAVE_OCTOMAP
+#ifdef FCL_HAVE_OCTOMAP
template<typename T_SH, typename NarrowPhaseSolver>
FCL_REAL ShapeOcTreeDistance(const CollisionGeometry* o1, const Transform3f& tf1, const CollisionGeometry* o2, const Transform3f& tf2, const NarrowPhaseSolver* nsolver,
const DistanceRequest& request, DistanceResult& result)
@@ -450,7 +450,7 @@ DistanceFunctionMatrix<NarrowPhaseSolver>::DistanceFunctionMatrix()
distance_matrix[BV_kIOS][BV_kIOS] = &BVHDistance<kIOS, NarrowPhaseSolver>;
distance_matrix[BV_OBBRSS][BV_OBBRSS] = &BVHDistance<OBBRSS, NarrowPhaseSolver>;
-#if FCL_HAVE_OCTOMAP
+#ifdef FCL_HAVE_OCTOMAP
distance_matrix[GEOM_OCTREE][GEOM_BOX] = &OcTreeShapeDistance<Box, NarrowPhaseSolver>;
distance_matrix[GEOM_OCTREE][GEOM_SPHERE] = &OcTreeShapeDistance<Sphere, NarrowPhaseSolver>;
distance_matrix[GEOM_OCTREE][GEOM_CAPSULE] = &OcTreeShapeDistance<Capsule, NarrowPhaseSolver>;
--
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