From a8bc1a04af7a5d9c2d647f6a6f94c5ed6d023a35 Mon Sep 17 00:00:00 2001
From: isucan <isucan@253336fb-580f-4252-a368-f3cef5a2a82b>
Date: Fri, 24 Aug 2012 08:08:23 +0000
Subject: [PATCH] apply patch from mark
git-svn-id: https://kforge.ros.org/fcl/fcl_ros@173 253336fb-580f-4252-a368-f3cef5a2a82b
---
trunk/fcl/include/fcl/traversal/traversal_node_shapes.h | 2 +-
trunk/fcl/src/ccd/taylor_model.cpp | 1 -
trunk/fcl/src/narrowphase/gjk.cpp | 2 --
3 files changed, 1 insertion(+), 4 deletions(-)
diff --git a/trunk/fcl/include/fcl/traversal/traversal_node_shapes.h b/trunk/fcl/include/fcl/traversal/traversal_node_shapes.h
index 3bb3cc3d..f015079d 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/ccd/taylor_model.cpp b/trunk/fcl/src/ccd/taylor_model.cpp
index 0851ed88..769985ab 100644
--- a/trunk/fcl/src/ccd/taylor_model.cpp
+++ b/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
diff --git a/trunk/fcl/src/narrowphase/gjk.cpp b/trunk/fcl/src/narrowphase/gjk.cpp
index 8419d010..2813b2f1 100644
--- a/trunk/fcl/src/narrowphase/gjk.cpp
+++ b/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);
--
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