Commit c4a3902f authored by Mark Moll's avatar Mark Moll
Browse files

Don't use deprecated API. Fix compiler warnings. Cmake cleanup. (Missing changes from 44ea1ea9)

parent 677539bb
......@@ -65,22 +65,21 @@ find_package(flann QUIET)
if (FLANN_FOUND)
set(FCL_HAVE_FLANN 1)
include_directories(${FLANN_INCLUDE_DIRS})
link_directories(${FLANN_LIBRARY_DIRS})
message(STATUS "FCL uses Flann")
else()
message(STATUS "FCL does not use Flann")
endif()
find_package(tinyxml QUIET)
if (TINYXML_FOUND)
set(FCL_HAVE_TINYXML 1)
include_directories(${TINYXML_INCLUDE_DIRS})
link_directories(${TINYXML_LIBRARY_DIRS})
message(STATUS "FCL uses tinyxml")
else()
message(STATUS "FCL does not use tinyxml")
endif()
# find_package(tinyxml QUIET)
# if (TINYXML_FOUND)
# set(FCL_HAVE_TINYXML 1)
# include_directories(${TINYXML_INCLUDE_DIRS})
# link_directories(${TINYXML_LIBRARY_DIRS})
# message(STATUS "FCL uses tinyxml")
# else()
# message(STATUS "FCL does not use tinyxml")
# endif()
find_package(Boost COMPONENTS thread date_time filesystem system unit_test_framework REQUIRED)
......
......@@ -167,7 +167,7 @@ template<typename T1, std::size_t N1,
void repack(const Vec_n<T1, N1>& input,
Vec_n<T2, N2>& output)
{
int n = std::min(N1, N2);
std::size_t n = std::min(N1, N2);
for(std::size_t i = 0; i < n; ++i)
output[i] = input[i];
}
......
......@@ -739,7 +739,7 @@ void DynamicAABBTreeCollisionManager::update(const std::vector<CollisionObject*>
void DynamicAABBTreeCollisionManager::collide(CollisionObject* obj, void* cdata, CollisionCallBack callback) const
{
if(size() == 0) return;
switch(obj->getCollisionGeometry()->getNodeType())
switch(obj->collisionGeometry()->getNodeType())
{
#if FCL_HAVE_OCTOMAP
case GEOM_OCTREE:
......@@ -763,7 +763,7 @@ void DynamicAABBTreeCollisionManager::distance(CollisionObject* obj, void* cdata
{
if(size() == 0) return;
FCL_REAL min_dist = std::numeric_limits<FCL_REAL>::max();
switch(obj->getCollisionGeometry()->getNodeType())
switch(obj->collisionGeometry()->getNodeType())
{
#if FCL_HAVE_OCTOMAP
case GEOM_OCTREE:
......
......@@ -764,7 +764,7 @@ void DynamicAABBTreeCollisionManager_Array::update(const std::vector<CollisionOb
void DynamicAABBTreeCollisionManager_Array::collide(CollisionObject* obj, void* cdata, CollisionCallBack callback) const
{
if(size() == 0) return;
switch(obj->getCollisionGeometry()->getNodeType())
switch(obj->collisionGeometry()->getNodeType())
{
#if FCL_HAVE_OCTOMAP
case GEOM_OCTREE:
......@@ -788,7 +788,7 @@ void DynamicAABBTreeCollisionManager_Array::distance(CollisionObject* obj, void*
{
if(size() == 0) return;
FCL_REAL min_dist = std::numeric_limits<FCL_REAL>::max();
switch(obj->getCollisionGeometry()->getNodeType())
switch(obj->collisionGeometry()->getNodeType())
{
#if FCL_HAVE_OCTOMAP
case GEOM_OCTREE:
......
......@@ -57,7 +57,7 @@ std::size_t collide(const CollisionObject* o1, const CollisionObject* o2,
const CollisionRequest& request,
CollisionResult& result)
{
return collide(o1->getCollisionGeometry(), o1->getTransform(), o2->getCollisionGeometry(), o2->getTransform(),
return collide(o1->collisionGeometry().get(), o1->getTransform(), o2->collisionGeometry().get(), o2->getTransform(),
nsolver, request, result);
}
......
......@@ -316,8 +316,8 @@ FCL_REAL continuousCollide(const CollisionObject* o1, const Transform3f& tf1_end
const ContinuousCollisionRequest& request,
ContinuousCollisionResult& result)
{
return continuousCollide(o1->getCollisionGeometry(), o1->getTransform(), tf1_end,
o2->getCollisionGeometry(), o2->getTransform(), tf2_end,
return continuousCollide(o1->collisionGeometry().get(), o1->getTransform(), tf1_end,
o2->collisionGeometry().get(), o2->getTransform(), tf2_end,
request, result);
}
......@@ -326,8 +326,8 @@ FCL_REAL collide(const ContinuousCollisionObject* o1, const ContinuousCollisionO
const ContinuousCollisionRequest& request,
ContinuousCollisionResult& result)
{
return continuousCollide(o1->getCollisionGeometry(), o1->getMotion(),
o2->getCollisionGeometry(), o2->getMotion(),
return continuousCollide(o1->collisionGeometry().get(), o1->getMotion(),
o2->collisionGeometry().get(), o2->getMotion(),
request, result);
}
......
......@@ -54,7 +54,7 @@ template<typename NarrowPhaseSolver>
FCL_REAL distance(const CollisionObject* o1, const CollisionObject* o2, const NarrowPhaseSolver* nsolver,
const DistanceRequest& request, DistanceResult& result)
{
return distance<NarrowPhaseSolver>(o1->getCollisionGeometry(), o1->getTransform(), o2->getCollisionGeometry(), o2->getTransform(), nsolver,
return distance<NarrowPhaseSolver>(o1->collisionGeometry().get(), o1->getTransform(), o2->collisionGeometry().get(), o2->getTransform(), nsolver,
request, result);
}
......
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