apply Mark's previous patch.

git-svn-id: https://kforge.ros.org/fcl/fcl_ros@176 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/ccd/taylor_model.cpp

@@ -98,7 +98,6 @@ 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

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