fix some bugs

git-svn-id: https://kforge.ros.org/fcl/fcl_ros@171 253336fb-580f-4252-a368-f3cef5a2a82b

trunk/fcl/include/fcl/traversal/traversal_node_shapes.h

@@ -148,7 +148,7 @@ public:
   void leafTesting(int, int) const
   {
     FCL_REAL distance;
-    !nsolver->shapeDistance(*model1, tf1, *model2, tf2, &distance);
+    nsolver->shapeDistance(*model1, tf1, *model2, tf2, &distance);
     result->update(distance, model1, model2, DistanceResult::NONE, DistanceResult::NONE);
   }
 

trunk/fcl/src/broadphase/broadphase_SSaP.cpp

@@ -463,7 +463,7 @@ void SSaPCollisionManager::collide(BroadPhaseCollisionManager* other_manager_, v
   }
   else
   {
-    for(it = other_manager->objs_x.begin(), end != other_manager->objs_x.end(); it != end; ++it)
+    for(it = other_manager->objs_x.begin(), end = other_manager->objs_x.end(); it != end; ++it)
       if(collide_(*it, cdata, callback)) return;
   }  
 }

trunk/fcl/src/ccd/taylor_model.cpp

@@ -98,6 +98,7 @@ TaylorModel TaylorModel::operator + (FCL_REAL d) const
 TaylorModel& TaylorModel::operator += (FCL_REAL d)
 {
   coeffs_[0] += d;
+  return *this;
 }
 
 TaylorModel TaylorModel::operator + (const TaylorModel& other) const

trunk/fcl/src/narrowphase/gjk.cpp

@@ -158,6 +158,8 @@ Vec3f getSupport(const ShapeBase* shape, const Vec3f& dir)
       return Vec3f(0, 0, 0);
     }
     break;
+  default:
+    ; // nothing
   }
 
   return Vec3f(0, 0, 0);