From 7d7ff70b81155f6c39d3f22f3353b29bde12c3c9 Mon Sep 17 00:00:00 2001
From: jpan <jpan@253336fb-580f-4252-a368-f3cef5a2a82b>
Date: Fri, 24 Aug 2012 04:01:37 +0000
Subject: [PATCH] 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 | 2 +-
trunk/fcl/src/broadphase/broadphase_SSaP.cpp | 2 +-
trunk/fcl/src/ccd/taylor_model.cpp | 1 +
trunk/fcl/src/narrowphase/gjk.cpp | 2 ++
4 files changed, 5 insertions(+), 2 deletions(-)
diff --git a/trunk/fcl/include/fcl/traversal/traversal_node_shapes.h b/trunk/fcl/include/fcl/traversal/traversal_node_shapes.h
index f015079d..3bb3cc3d 100644
--- a/trunk/fcl/include/fcl/traversal/traversal_node_shapes.h
+++ b/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);
}
diff --git a/trunk/fcl/src/broadphase/broadphase_SSaP.cpp b/trunk/fcl/src/broadphase/broadphase_SSaP.cpp
index bc9d2df5..c47160f8 100644
--- a/trunk/fcl/src/broadphase/broadphase_SSaP.cpp
+++ b/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;
}
}
diff --git a/trunk/fcl/src/ccd/taylor_model.cpp b/trunk/fcl/src/ccd/taylor_model.cpp
index 769985ab..0851ed88 100644
--- a/trunk/fcl/src/ccd/taylor_model.cpp
+++ b/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
diff --git a/trunk/fcl/src/narrowphase/gjk.cpp b/trunk/fcl/src/narrowphase/gjk.cpp
index 2813b2f1..8419d010 100644
--- a/trunk/fcl/src/narrowphase/gjk.cpp
+++ b/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);
--
GitLab