Commit 9fcf0655 authored by Joseph Mirabel's avatar Joseph Mirabel
Browse files

Fix some compilation warnings.

parent 477bbac9
......@@ -76,7 +76,7 @@ search_for_boost()
# Optional dependencies
add_optional_dependency("octomap >= 1.6")
if (OCTOMAP_INCLUDE_DIRS AND OCTOMAP_LIBRARY_DIRS)
include_directories(${OCTOMAP_INCLUDE_DIRS})
include_directories(SYSTEM ${OCTOMAP_INCLUDE_DIRS})
link_directories(${OCTOMAP_LIBRARY_DIRS})
SET(HPP_FCL_HAVE_OCTOMAP TRUE)
add_definitions (-DHPP_FCL_HAVE_OCTOMAP)
......
......@@ -130,7 +130,7 @@ namespace fcl
col = true;
details::EPA epa(epa_max_face_num, epa_max_vertex_num, epa_max_iterations, epa_tolerance);
details::EPA::Status epa_status = epa.evaluate(gjk, -guess);
assert (epa_status != details::EPA::Failed);
assert (epa_status != details::EPA::Failed); (void) epa_status;
Vec3f w0 (Vec3f::Zero());
for(size_t i = 0; i < epa.result.rank; ++i)
{
......@@ -162,6 +162,7 @@ namespace fcl
break;
default:
assert (false && "should not reach type part.");
return true;
}
return col;
}
......@@ -173,7 +174,9 @@ namespace fcl
FCL_REAL& distance, Vec3f& p1, Vec3f& p2,
Vec3f& normal) const
{
#ifndef NDEBUG
FCL_REAL eps (sqrt(std::numeric_limits<FCL_REAL>::epsilon()));
#endif
bool compute_normal (true);
Vec3f guess(1, 0, 0);
if(enable_cached_guess) guess = cached_guess;
......
......@@ -712,10 +712,8 @@ int BVHModel<BV>::recursiveBuildTree(int bv_id, int first_primitive, int num_pri
const Vec3f& p1 = vertices[t[0]];
const Vec3f& p2 = vertices[t[1]];
const Vec3f& p3 = vertices[t[2]];
FCL_REAL x = (p1[0] + p2[0] + p3[0]) / 3.0;
FCL_REAL y = (p1[1] + p2[1] + p3[1]) / 3.0;
FCL_REAL z = (p1[2] + p2[2] + p3[2]) / 3.0;
p << x, y, z;
p = (p1 + p2 + p3) / 3.;
}
else
{
......
......@@ -155,8 +155,7 @@ std::size_t ShapeShapeCollide(const CollisionGeometry* o1, const Transform3f& tf
if (result.numContacts () < request.num_max_contacts) {
Contact contact (o1, o2, distanceResult.b1, distanceResult.b2);
const Vec3f& p1 = distanceResult.nearest_points [0];
const Vec3f& p2 = distanceResult.nearest_points [1];
assert (p1 == p2);
assert (p1 == distanceResult.nearest_points [1]);
contact.pos = p1;
contact.normal = distanceResult.normal;
contact.penetration_depth = -distance;
......
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