From b7abd246481e1e9a9202e83a33622cd08dc1450b Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <josephmirabel@gmail.com>
Date: Sun, 12 Jun 2016 20:12:29 +0200
Subject: [PATCH] WIP: Add some eval
---
include/hpp/fcl/math/transform.h | 4 ++--
include/hpp/fcl/shape/geometric_shape_to_BVH_model.h | 2 +-
src/traversal/traversal_node_bvhs.cpp | 6 +++---
3 files changed, 6 insertions(+), 6 deletions(-)
diff --git a/include/hpp/fcl/math/transform.h b/include/hpp/fcl/math/transform.h
index e26c1a77..3eba2726 100644
--- a/include/hpp/fcl/math/transform.h
+++ b/include/hpp/fcl/math/transform.h
@@ -409,7 +409,7 @@ public:
{
matrix_set = false;
q.conj();
- T = q.transform(-T);
+ T = q.transform(-T).eval();
return *this;
}
@@ -424,7 +424,7 @@ public:
inline const Transform3f& operator *= (const Transform3f& other)
{
matrix_set = false;
- T = q.transform(other.T) + T;
+ T += q.transform(other.T).eval();
q *= other.q;
return *this;
}
diff --git a/include/hpp/fcl/shape/geometric_shape_to_BVH_model.h b/include/hpp/fcl/shape/geometric_shape_to_BVH_model.h
index 9e97491f..2784abdc 100644
--- a/include/hpp/fcl/shape/geometric_shape_to_BVH_model.h
+++ b/include/hpp/fcl/shape/geometric_shape_to_BVH_model.h
@@ -79,7 +79,7 @@ void generateBVHModel(BVHModel<BV>& model, const Box& shape, const Transform3f&
for(unsigned int i = 0; i < points.size(); ++i)
{
- points[i] = pose.transform(points[i]);
+ points[i] = pose.transform(points[i]).eval();
}
model.beginModel();
diff --git a/src/traversal/traversal_node_bvhs.cpp b/src/traversal/traversal_node_bvhs.cpp
index 5682606c..06b14052 100644
--- a/src/traversal/traversal_node_bvhs.cpp
+++ b/src/traversal/traversal_node_bvhs.cpp
@@ -354,8 +354,8 @@ static inline void distancePostprocessOrientedNode(const BVHModel<BV>* model1, c
/// the points obtained by triDistance are not in world space: both are in object1's local coordinate system, so we need to convert them into the world space.
if(request.enable_nearest_points && (result.o1 == model1) && (result.o2 == model2))
{
- result.nearest_points[0] = tf1.transform(result.nearest_points[0]);
- result.nearest_points[1] = tf1.transform(result.nearest_points[1]);
+ result.nearest_points[0] = tf1.transform(result.nearest_points[0]).eval();
+ result.nearest_points[1] = tf1.transform(result.nearest_points[1]).eval();
}
}
@@ -492,7 +492,7 @@ bool meshConservativeAdvancementOrientedNodeCanStop(FCL_REAL c,
Vec3f n_transformed (getBVAxes(model1->getBV(c1).bv) * n);
Quaternion3f R0;
motion1->getCurrentRotation(R0);
- n_transformed = R0.transform(n_transformed);
+ n_transformed = R0.transform(n_transformed).eval();
n_transformed.normalize();
TBVMotionBoundVisitor<BV> mb_visitor1(model1->getBV(c1).bv, n_transformed), mb_visitor2(model2->getBV(c2).bv, -n_transformed);
--
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