From 7afe483a5f40dee24a01e43b60ca67e33a633f7a Mon Sep 17 00:00:00 2001
From: Tobias Kunz <tobias@gatech.edu>
Date: Tue, 7 May 2013 17:01:56 -0400
Subject: [PATCH] Fix compiler/linker errors in Visual Studio introduced by
recent commits
M_PI is not part of the C++ standard and thus Visual Studio does not define it by default.
---
include/fcl/narrowphase/narrowphase.h | 10 ++++++++++
test/test_fcl_sphere_capsule.cpp | 4 ++++
2 files changed, 14 insertions(+)
diff --git a/include/fcl/narrowphase/narrowphase.h b/include/fcl/narrowphase/narrowphase.h
index 54e3459a..9f3862e9 100644
--- a/include/fcl/narrowphase/narrowphase.h
+++ b/include/fcl/narrowphase/narrowphase.h
@@ -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,
diff --git a/test/test_fcl_sphere_capsule.cpp b/test/test_fcl_sphere_capsule.cpp
index eb4a421d..5da0def0 100644
--- a/test/test_fcl_sphere_capsule.cpp
+++ b/test/test_fcl_sphere_capsule.cpp
@@ -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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