diff --git a/CMakeLists.txt b/CMakeLists.txt
index 1037f4f6f79aea31f79c6322cf8b4fe6ff29d933..7ae56c0658418327833fc23e67b97b4be9a724ea 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -76,10 +76,10 @@ search_for_boost()
# Optional dependencies
add_optional_dependency("octomap >= 1.6")
if (OCTOMAP_INCLUDE_DIRS AND OCTOMAP_LIBRARY_DIRS)
- include_directories(${OCTOMAP_INCLUDE_DIRS})
- link_directories(${OCTOMAP_LIBRARY_DIRS})
- SET(FCL_HAVE_OCTOMAP TRUE)
- add_definitions (-DFCL_HAVE_OCTOMAP)
+ include_directories(${OCTOMAP_INCLUDE_DIRS})
+ link_directories(${OCTOMAP_LIBRARY_DIRS})
+ SET(HPP_FCL_HAVE_OCTOMAP TRUE)
+ add_definitions (-DHPP_FCL_HAVE_OCTOMAP)
string(REPLACE "." ";" VERSION_LIST ${OCTOMAP_VERSION})
list(GET VERSION_LIST 0 OCTOMAP_MAJOR_VERSION)
list(GET VERSION_LIST 1 OCTOMAP_MINOR_VERSION)
@@ -87,20 +87,20 @@ if (OCTOMAP_INCLUDE_DIRS AND OCTOMAP_LIBRARY_DIRS)
add_definitions (-DOCTOMAP_MAJOR_VERSION=${OCTOMAP_MAJOR_VERSION}
-DOCTOMAP_MINOR_VERSION=${OCTOMAP_MINOR_VERSION}
-DOCTOMAP_PATCH_VERSION=${OCTOMAP_PATCH_VERSION})
- message(STATUS "FCL uses Octomap")
+ message(STATUS "FCL uses Octomap")
else()
- SET(FCL_HAVE_OCTOMAP FALSE)
- message(STATUS "FCL does not use Octomap")
+ SET(HPP_FCL_HAVE_OCTOMAP FALSE)
+ message(STATUS "FCL does not use Octomap")
endif()
ADD_REQUIRED_DEPENDENCY("assimp >= 2.0")
if(ASSIMP_FOUND)
if (NOT ${ASSIMP_VERSION} VERSION_LESS "2.0.1150")
- add_definitions(-DFCL_USE_ASSIMP_UNIFIED_HEADER_NAMES)
- SET(WITH_FCL_USE_ASSIMP_UNIFIED_HEADER_NAMES TRUE)
+ add_definitions(-DHPP_FCL_USE_ASSIMP_UNIFIED_HEADER_NAMES)
+ SET(HPP_FCL_USE_ASSIMP_UNIFIED_HEADER_NAMES TRUE)
message(STATUS "Assimp version has unified headers")
else()
- SET(WITH_FCL_USE_ASSIMP_UNIFIED_HEADER_NAMES FALSE)
+ SET(HPP_FCL_USE_ASSIMP_UNIFIED_HEADER_NAMES FALSE)
message(STATUS "Assimp version does not have unified headers")
endif()
endif()
@@ -162,12 +162,14 @@ endif ()
pkg_config_append_libs("hpp-fcl")
PKG_CONFIG_APPEND_BOOST_LIBS(thread date_time filesystem system)
-IF(WITH_FCL_USE_ASSIMP_UNIFIED_HEADER_NAMES)
- PKG_CONFIG_APPEND_CFLAGS("-DFCL_USE_ASSIMP_UNIFIED_HEADER_NAMES")
-ENDIF(WITH_FCL_USE_ASSIMP_UNIFIED_HEADER_NAMES)
-IF(FCL_HAVE_OCTOMAP)
+IF(HPP_FCL_USE_ASSIMP_UNIFIED_HEADER_NAMES)
+ #Â FCL_USE_ASSIMP_UNIFIED_HEADER_NAMES kept for backard compatibility reasons.
+ PKG_CONFIG_APPEND_CFLAGS("-DFCL_USE_ASSIMP_UNIFIED_HEADER_NAMES -DHPP_FCL_USE_ASSIMP_UNIFIED_HEADER_NAMES")
+ENDIF(HPP_FCL_USE_ASSIMP_UNIFIED_HEADER_NAMES)
+IF(HPP_FCL_HAVE_OCTOMAP)
+ #Â FCL_HAVE_OCTOMAP kept for backward compatibility reasons.
PKG_CONFIG_APPEND_CFLAGS(
- "-DFCL_HAVE_OCTOMAP -DOCTOMAP_MAJOR_VERSION=${OCTOMAP_MAJOR_VERSION} -DOCTOMAP_MINOR_VERSION=${OCTOMAP_MINOR_VERSION} -DOCTOMAP_PATCH_VERSION=${OCTOMAP_PATCH_VERSION}")
-ENDIF(FCL_HAVE_OCTOMAP)
+ "-DHPP_FCL_HAVE_OCTOMAP -DFCL_HAVE_OCTOMAP -DOCTOMAP_MAJOR_VERSION=${OCTOMAP_MAJOR_VERSION} -DOCTOMAP_MINOR_VERSION=${OCTOMAP_MINOR_VERSION} -DOCTOMAP_PATCH_VERSION=${OCTOMAP_PATCH_VERSION}")
+ENDIF(HPP_FCL_HAVE_OCTOMAP)
setup_project_finalize()
diff --git a/include/hpp/fcl/math/vec_3f.h b/include/hpp/fcl/math/vec_3f.h
index ede7b01705adf09f0fdd49f5046a008143282468..b7fcef9db0947c75d0324e7fc3a0ab846ded248c 100644
--- a/include/hpp/fcl/math/vec_3f.h
+++ b/include/hpp/fcl/math/vec_3f.h
@@ -57,7 +57,7 @@ namespace fcl
}
-#ifdef FCL_HAVE_OCTOMAP
+#ifdef HPP_FCL_HAVE_OCTOMAP
#define OCTOMAP_VERSION_AT_LEAST(x,y,z) \
(OCTOMAP_MAJOR_VERSION > x || (OCTOMAP_MAJOR_VERSION >= x && \
(OCTOMAP_MINOR_VERSION > y || (OCTOMAP_MINOR_VERSION >= y && \
@@ -67,7 +67,7 @@ namespace fcl
(OCTOMAP_MAJOR_VERSION < x || (OCTOMAP_MAJOR_VERSION <= x && \
(OCTOMAP_MINOR_VERSION < y || (OCTOMAP_MINOR_VERSION <= y && \
OCTOMAP_PATCH_VERSION <= z))))
-#endif // FCL_HAVE_OCTOMAP
+#endif // HPP_FCL_HAVE_OCTOMAP
} // namespace hpp
diff --git a/include/hpp/fcl/mesh_loader/assimp.h b/include/hpp/fcl/mesh_loader/assimp.h
index 12f6a631be3fa87e698bfb303727d25cd33d5993..8f0bce65999f345aa8e76a5e73d635332e0ca02c 100644
--- a/include/hpp/fcl/mesh_loader/assimp.h
+++ b/include/hpp/fcl/mesh_loader/assimp.h
@@ -37,7 +37,7 @@
#ifndef HPP_FCL_MESH_LOADER_ASSIMP_H
#define HPP_FCL_MESH_LOADER_ASSIMP_H
-#ifdef FCL_USE_ASSIMP_UNIFIED_HEADER_NAMES
+#ifdef HPP_FCL_USE_ASSIMP_UNIFIED_HEADER_NAMES
#include <assimp/DefaultLogger.hpp>
#include <assimp/IOStream.hpp>
#include <assimp/IOSystem.hpp>
@@ -166,7 +166,7 @@ inline void buildMesh (const fcl::Vec3f & scale,
aiFace& face = input_mesh->mFaces[j];
if (face.mNumIndices != 3) {
std::stringstream ss;
-#ifdef FCL_USE_ASSIMP_UNIFIED_HEADER_NAMES
+#ifdef HPP_FCL_USE_ASSIMP_UNIFIED_HEADER_NAMES
ss << "Mesh " << input_mesh->mName.C_Str() << " has a face with "
<< face.mNumIndices << " vertices. This is not supported\n";
ss << "Node name is: " << node->mName.C_Str() << "\n";
diff --git a/include/hpp/fcl/traversal/traversal_node_setup.h b/include/hpp/fcl/traversal/traversal_node_setup.h
index b58ea4572b2debf0266eb63a87f2e712d1b60853..041b3fa68731525070797d48661ee7cde48d35b5 100644
--- a/include/hpp/fcl/traversal/traversal_node_setup.h
+++ b/include/hpp/fcl/traversal/traversal_node_setup.h
@@ -43,7 +43,7 @@
#include <hpp/fcl/traversal/traversal_node_shapes.h>
#include <hpp/fcl/traversal/traversal_node_bvh_shape.h>
-#ifdef FCL_HAVE_OCTOMAP
+#ifdef HPP_FCL_HAVE_OCTOMAP
#include <hpp/fcl/traversal/traversal_node_octree.h>
#endif
@@ -54,7 +54,7 @@ namespace hpp
namespace fcl
{
-#ifdef FCL_HAVE_OCTOMAP
+#ifdef HPP_FCL_HAVE_OCTOMAP
/// @brief Initialize traversal node for collision between two octrees, given current object transform
template<typename NarrowPhaseSolver>
bool initialize(OcTreeCollisionTraversalNode<NarrowPhaseSolver>& node,
diff --git a/src/collision_func_matrix.cpp b/src/collision_func_matrix.cpp
index 68a3120b19887b938fdaaa00c3b9cd0cfa25c9ea..7a7a6fba92c6456fe8385bde4c08a6047053b7d7 100644
--- a/src/collision_func_matrix.cpp
+++ b/src/collision_func_matrix.cpp
@@ -48,7 +48,7 @@ namespace hpp
namespace fcl
{
-#ifdef FCL_HAVE_OCTOMAP
+#ifdef HPP_FCL_HAVE_OCTOMAP
template<typename T_SH, typename NarrowPhaseSolver>
std::size_t ShapeOcTreeCollide(const CollisionGeometry* o1, const Transform3f& tf1, const CollisionGeometry* o2, const Transform3f& tf2,
const NarrowPhaseSolver* nsolver,
@@ -505,7 +505,7 @@ CollisionFunctionMatrix<NarrowPhaseSolver>::CollisionFunctionMatrix()
collision_matrix[BV_kIOS][BV_kIOS] = &BVHCollide<kIOS, NarrowPhaseSolver>;
collision_matrix[BV_OBBRSS][BV_OBBRSS] = &BVHCollide<OBBRSS, NarrowPhaseSolver>;
-#ifdef FCL_HAVE_OCTOMAP
+#ifdef HPP_FCL_HAVE_OCTOMAP
collision_matrix[GEOM_OCTREE][GEOM_BOX] = &OcTreeShapeCollide<Box, NarrowPhaseSolver>;
collision_matrix[GEOM_OCTREE][GEOM_SPHERE] = &OcTreeShapeCollide<Sphere, NarrowPhaseSolver>;
collision_matrix[GEOM_OCTREE][GEOM_CAPSULE] = &OcTreeShapeCollide<Capsule, NarrowPhaseSolver>;
diff --git a/src/distance_func_matrix.cpp b/src/distance_func_matrix.cpp
index 3b31a59c9b5f6c05cf85efbbe5fc97cd71c35de9..c83148c07e5bc412692f9eef213e3f9391d78c3b 100644
--- a/src/distance_func_matrix.cpp
+++ b/src/distance_func_matrix.cpp
@@ -46,7 +46,7 @@ namespace hpp
namespace fcl
{
-#ifdef FCL_HAVE_OCTOMAP
+#ifdef HPP_FCL_HAVE_OCTOMAP
template<typename T_SH, typename NarrowPhaseSolver>
FCL_REAL ShapeOcTreeDistance(const CollisionGeometry* o1, const Transform3f& tf1, const CollisionGeometry* o2, const Transform3f& tf2, const NarrowPhaseSolver* nsolver,
const DistanceRequest& request, DistanceResult& result)
@@ -452,7 +452,7 @@ DistanceFunctionMatrix<NarrowPhaseSolver>::DistanceFunctionMatrix()
distance_matrix[BV_kIOS][BV_kIOS] = &BVHDistance<kIOS, NarrowPhaseSolver>;
distance_matrix[BV_OBBRSS][BV_OBBRSS] = &BVHDistance<OBBRSS, NarrowPhaseSolver>;
-#ifdef FCL_HAVE_OCTOMAP
+#ifdef HPP_FCL_HAVE_OCTOMAP
distance_matrix[GEOM_OCTREE][GEOM_BOX] = &OcTreeShapeDistance<Box, NarrowPhaseSolver>;
distance_matrix[GEOM_OCTREE][GEOM_SPHERE] = &OcTreeShapeDistance<Sphere, NarrowPhaseSolver>;
distance_matrix[GEOM_OCTREE][GEOM_CAPSULE] = &OcTreeShapeDistance<Capsule, NarrowPhaseSolver>;