diff --git a/CMakeModules/FCLVersion.cmake b/CMakeModules/FCLVersion.cmake
index cf8e02354450d6f369bfa1176e20be797c16dc4c..5df53618b9a02b73c7a00c25a244c2a66e2ee237 100644
--- a/CMakeModules/FCLVersion.cmake
+++ b/CMakeModules/FCLVersion.cmake
@@ -1,7 +1,7 @@
# set the version in a way CMake can use
set(FCL_MAJOR_VERSION 0)
set(FCL_MINOR_VERSION 2)
-set(FCL_PATCH_VERSION 7)
+set(FCL_PATCH_VERSION 8)
set(FCL_VERSION "${FCL_MAJOR_VERSION}.${FCL_MINOR_VERSION}.${FCL_PATCH_VERSION}")
# increment this when we have ABI changes
diff --git a/include/fcl/broadphase/hierarchy_tree.hxx b/include/fcl/broadphase/hierarchy_tree.hxx
index 05e01cde22a9bd697f7dfb34919c3b410e8f5c97..07b6291211d654e61edf3df346f2850f193dee9f 100644
--- a/include/fcl/broadphase/hierarchy_tree.hxx
+++ b/include/fcl/broadphase/hierarchy_tree.hxx
@@ -1032,7 +1032,7 @@ void HierarchyTree<BV>::init_1(NodeType* leaves, int n_leaves_)
SortByMorton comp;
comp.nodes = nodes;
std::sort(ids, ids + n_leaves, comp);
- root_node = mortonRecurse_0(ids, ids + n_leaves, (1 << coder.bits()-1), coder.bits()-1);
+ root_node = mortonRecurse_0(ids, ids + n_leaves, (1 << (coder.bits()-1)), coder.bits()-1);
delete [] ids;
refit();
@@ -1076,7 +1076,7 @@ void HierarchyTree<BV>::init_2(NodeType* leaves, int n_leaves_)
SortByMorton comp;
comp.nodes = nodes;
std::sort(ids, ids + n_leaves, comp);
- root_node = mortonRecurse_1(ids, ids + n_leaves, (1 << coder.bits()-1), coder.bits()-1);
+ root_node = mortonRecurse_1(ids, ids + n_leaves, (1 << (coder.bits()-1)), coder.bits()-1);
delete [] ids;
refit();
diff --git a/src/BVH/BVH_model.cpp b/src/BVH/BVH_model.cpp
index 4333af68f0630cb3c9cbec02829c555aa532abb5..9d42558837ce6124f961b436b13f281d0dc141b3 100644
--- a/src/BVH/BVH_model.cpp
+++ b/src/BVH/BVH_model.cpp
@@ -44,6 +44,7 @@ namespace fcl
template<typename BV>
BVHModel<BV>::BVHModel(const BVHModel<BV>& other) : CollisionGeometry(other),
+ boost::noncopyable(),
num_tris(other.num_tris),
num_vertices(other.num_vertices),
build_state(other.build_state),
diff --git a/src/BVH/BVH_utility.cpp b/src/BVH/BVH_utility.cpp
index 4377ad35ded008026e73e2e758ffa4701e87c58d..a72eaac268e1862024854ba2b4c8c5f6835197b5 100644
--- a/src/BVH/BVH_utility.cpp
+++ b/src/BVH/BVH_utility.cpp
@@ -659,7 +659,7 @@ static inline FCL_REAL maximumDistance_pointcloud(Vec3f* ps, Vec3f* ps2, unsigne
if(!indices) indirect_index = false;
FCL_REAL maxD = 0;
- for(unsigned int i = 0; i < n; ++i)
+ for(int i = 0; i < n; ++i)
{
int index = indirect_index ? indices[i] : i;
diff --git a/src/broadphase/broadphase_SaP.cpp b/src/broadphase/broadphase_SaP.cpp
index c22af618ade49cfec6d890cbb9eddb543d9f4423..81cb7f86ebdf432cca5022c5916c5ab19443606d 100644
--- a/src/broadphase/broadphase_SaP.cpp
+++ b/src/broadphase/broadphase_SaP.cpp
@@ -123,7 +123,7 @@ void SaPCollisionManager::registerObjects(const std::vector<CollisionObject*>& o
endpoints[0]->prev[coord] = NULL;
endpoints[0]->next[coord] = endpoints[1];
- for(int i = 1; i < endpoints.size() - 1; ++i)
+ for(size_t i = 1; i < endpoints.size() - 1; ++i)
{
endpoints[i]->prev[coord] = endpoints[i-1];
endpoints[i]->next[coord] = endpoints[i+1];
@@ -498,7 +498,7 @@ bool SaPCollisionManager::collide_(CollisionObject* obj, void* cdata, CollisionC
const AABB& obj_aabb = obj->getAABB();
FCL_REAL min_val = obj_aabb.min_[axis];
- FCL_REAL max_val = obj_aabb.max_[axis];
+ // FCL_REAL max_val = obj_aabb.max_[axis];
EndPoint dummy;
SaPAABB dummy_aabb;
@@ -564,7 +564,7 @@ bool SaPCollisionManager::distance_(CollisionObject* obj, void* cdata, DistanceC
{
old_min_distance = min_dist;
FCL_REAL min_val = aabb.min_[axis];
- FCL_REAL max_val = aabb.max_[axis];
+ // FCL_REAL max_val = aabb.max_[axis];
EndPoint dummy;
SaPAABB dummy_aabb;
diff --git a/src/narrowphase/gjk.cpp b/src/narrowphase/gjk.cpp
index 8419d0103951c7b485aca20a478ff25a01e99dff..1df3231717de10a21dabdd16cb326d6f9b16d0a8 100644
--- a/src/narrowphase/gjk.cpp
+++ b/src/narrowphase/gjk.cpp
@@ -141,7 +141,7 @@ Vec3f getSupport(const ShapeBase* shape, const Vec3f& dir)
FCL_REAL maxdot = - std::numeric_limits<FCL_REAL>::max();
Vec3f* curp = convex->points;
Vec3f bestv;
- for(size_t i = 0; i < convex->num_points; ++i, curp+=1)
+ for(int i = 0; i < convex->num_points; ++i, curp+=1)
{
FCL_REAL dot = dir.dot(*curp);
if(dot > maxdot)
@@ -402,6 +402,7 @@ GJK::Status GJK::evaluate(const MinkowskiDiff& shape_, const Vec3f& guess)
{
case Valid: distance = ray.length(); break;
case Inside: distance = 0; break;
+ default: break;
}
return status;
}
@@ -509,8 +510,6 @@ bool EPA::getEdgeDist(SimplexF* face, SimplexV* a, SimplexV* b, FCL_REAL& dist)
if(a_dot_nab < 0) // the origin is on the outside part of ab
{
- FCL_REAL ba_l2 = ba.sqrLength();
-
// following is similar to projectOrigin for two points
// however, as we dont need to compute the parameterization, dont need to compute 0 or 1
FCL_REAL a_dot_ba = a->w.dot(ba);
diff --git a/src/narrowphase/gjk_libccd.cpp b/src/narrowphase/gjk_libccd.cpp
index bae4aaa5f87874d82f5e4122e7480ee78e1dcc05..2b18391cdb95320fc32e0a7fed0c873ca80d0043 100644
--- a/src/narrowphase/gjk_libccd.cpp
+++ b/src/narrowphase/gjk_libccd.cpp
@@ -87,6 +87,7 @@ struct ccd_triangle_t : public ccd_obj_t
ccd_vec3_t c;
};
+/*
static void tripleCross(const ccd_vec3_t* a, const ccd_vec3_t* b,
const ccd_vec3_t* c, ccd_vec3_t* d)
{
@@ -338,6 +339,7 @@ static int doSimplex4Dist(ccd_simplex_t *simplex, ccd_vec3_t *dir, ccd_real_t* d
return doSimplex3Dist(simplex, dir, dist);
}
+
static int doSimplexDist(ccd_simplex_t *simplex, ccd_vec3_t *dir, ccd_real_t* dist)
{
if(ccdSimplexSize(simplex) == 2)
@@ -360,6 +362,7 @@ static int doSimplexDist(ccd_simplex_t *simplex, ccd_vec3_t *dir, ccd_real_t* di
}
+
static ccd_real_t __ccdGJKDist(const void *obj1, const void *obj2,
const ccd_t *ccd, ccd_simplex_t *simplex,
ccd_real_t tolerance)
@@ -435,7 +438,7 @@ static ccd_real_t __ccdGJKDist(const void *obj1, const void *obj2,
// intersection wasn't found
return min_dist;
}
-
+*/
/** Basic shape to ccd shape */
static void shapeToGJK(const ShapeBase& s, const Transform3f& tf, ccd_obj_t* o)