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Guilhem Saurel
hpp-fcl
Commits
c7b38617
Commit
c7b38617
authored
Apr 01, 2016
by
Joseph Mirabel
Committed by
Joseph Mirabel
Apr 01, 2016
Browse files
Fix gcc warnings
parent
9e9f5359
Changes
18
Hide whitespace changes
Inline
Side-by-side
include/hpp/fcl/BV/OBB.h
View file @
c7b38617
...
...
@@ -71,7 +71,7 @@ public:
/// @brief Check collision between two OBB and return the overlap part. For OBB, the overlap_part return value is NOT used as the overlap part of two obbs usually is not an obb.
bool
overlap
(
const
OBB
&
other
,
OBB
&
overlap_part
)
const
bool
overlap
(
const
OBB
&
other
,
OBB
&
/*
overlap_part
*/
)
const
{
return
overlap
(
other
);
}
...
...
include/hpp/fcl/BV/OBBRSS.h
View file @
c7b38617
...
...
@@ -72,7 +72,7 @@ public:
}
/// @brief Check collision between two OBBRSS and return the overlap part.
bool
overlap
(
const
OBBRSS
&
other
,
OBBRSS
&
overlap_part
)
const
bool
overlap
(
const
OBBRSS
&
other
,
OBBRSS
&
/*
overlap_part
*/
)
const
{
return
overlap
(
other
);
}
...
...
include/hpp/fcl/BV/RSS.h
View file @
c7b38617
...
...
@@ -67,7 +67,7 @@ public:
bool
overlap
(
const
RSS
&
other
)
const
;
/// Not implemented
bool
overlap
(
const
RSS
&
other
,
FCL_REAL
&
sqrDistLowerBound
)
const
bool
overlap
(
const
RSS
&
/*
other
*/
,
FCL_REAL
&
/*
sqrDistLowerBound
*/
)
const
{
throw
std
::
runtime_error
(
"Not implemented."
);
return
false
;
...
...
@@ -75,7 +75,7 @@ public:
/// @brief Check collision between two RSS and return the overlap part.
/// For RSS, we return nothing, as the overlap part of two RSSs usually is not a RSS.
bool
overlap
(
const
RSS
&
other
,
RSS
&
overlap_part
)
const
bool
overlap
(
const
RSS
&
other
,
RSS
&
/*
overlap_part
*/
)
const
{
return
overlap
(
other
);
}
...
...
include/hpp/fcl/BV/kIOS.h
View file @
c7b38617
...
...
@@ -69,7 +69,7 @@ class kIOS
}
else
/** spheres partially overlapping or disjoint */
{
float
dist
=
std
::
sqrt
(
dist2
);
float
dist
=
(
float
)
std
::
sqrt
(
dist2
);
kIOS_Sphere
s
;
s
.
r
=
dist
+
s0
.
r
+
s1
.
r
;
if
(
dist
>
0
)
...
...
@@ -99,7 +99,7 @@ public:
/// @brief Check collision between two kIOS and return the overlap part.
/// For kIOS, we return nothing, as the overlappart of two kIOS usually is not an kIOS
/// @todo Not efficient. It first checks the sphere collisions and then use OBB for further culling.
bool
overlap
(
const
kIOS
&
other
,
kIOS
&
overlap_part
)
const
bool
overlap
(
const
kIOS
&
other
,
kIOS
&
/*
overlap_part
*/
)
const
{
return
overlap
(
other
);
}
...
...
include/hpp/fcl/BVH/BVH_internal.h
View file @
c7b38617
...
...
@@ -54,7 +54,7 @@ enum BVHBuildState
BVH_BUILD_STATE_PROCESSED
,
/// after tree has been build, ready for cd use
BVH_BUILD_STATE_UPDATE_BEGUN
,
/// after beginUpdateModel(), state for updating geometry primitives
BVH_BUILD_STATE_UPDATED
,
/// after tree has been build for updated geometry, ready for ccd use
BVH_BUILD_STATE_REPLACE_BEGUN
,
/// after beginReplaceModel(), state for replacing geometry primitives
BVH_BUILD_STATE_REPLACE_BEGUN
/// after beginReplaceModel(), state for replacing geometry primitives
};
/// @brief Error code for BVH
...
...
include/hpp/fcl/broadphase/broadphase.h
View file @
c7b38617
...
...
@@ -85,13 +85,13 @@ public:
virtual
void
update
()
=
0
;
/// @brief update the manager by explicitly given the object updated
virtual
void
update
(
CollisionObject
*
updated_obj
)
virtual
void
update
(
CollisionObject
*
/*
updated_obj
*/
)
{
update
();
}
/// @brief update the manager by explicitly given the set of objects update
virtual
void
update
(
const
std
::
vector
<
CollisionObject
*>&
updated_objs
)
virtual
void
update
(
const
std
::
vector
<
CollisionObject
*>&
/*
updated_objs
*/
)
{
update
();
}
...
...
@@ -184,13 +184,13 @@ public:
virtual
void
update
()
=
0
;
/// @brief update the manager by explicitly given the object updated
virtual
void
update
(
ContinuousCollisionObject
*
updated_obj
)
virtual
void
update
(
ContinuousCollisionObject
*
/*
updated_obj
*/
)
{
update
();
}
/// @brief update the manager by explicitly given the set of objects update
virtual
void
update
(
const
std
::
vector
<
ContinuousCollisionObject
*>&
updated_objs
)
virtual
void
update
(
const
std
::
vector
<
ContinuousCollisionObject
*>&
/*
updated_objs
*/
)
{
update
();
}
...
...
include/hpp/fcl/ccd/motion.h
View file @
c7b38617
...
...
@@ -88,7 +88,7 @@ public:
tf_
=
tf
;
}
void
getTaylorModel
(
TMatrix3
&
tm
,
TVector3
&
tv
)
const
void
getTaylorModel
(
TMatrix3
&
/*tm*/
,
TVector3
&
/*tv*/
)
const
{
}
...
...
@@ -113,14 +113,14 @@ public:
const
Vec3f
&
Rd0
,
const
Vec3f
&
Rd1
,
const
Vec3f
&
Rd2
,
const
Vec3f
&
Rd3
);
// @brief Construct motion from initial and goal transform
SplineMotion
(
const
Matrix3f
&
R1
,
const
Vec3f
&
T1
,
const
Matrix3f
&
R2
,
const
Vec3f
&
T2
)
:
MotionBase
()
SplineMotion
(
const
Matrix3f
&
/*R1*/
,
const
Vec3f
&
/*T1*/
,
const
Matrix3f
&
/*R2*/
,
const
Vec3f
&
/*T2*/
)
:
MotionBase
()
{
// TODO
}
SplineMotion
(
const
Transform3f
&
tf1
,
const
Transform3f
&
tf2
)
:
MotionBase
()
SplineMotion
(
const
Transform3f
&
/*
tf1
*/
,
const
Transform3f
&
/*
tf2
*/
)
:
MotionBase
()
{
// TODO
}
...
...
include/hpp/fcl/ccd/motion_base.h
View file @
c7b38617
...
...
@@ -72,11 +72,11 @@ class TBVMotionBoundVisitor : public BVMotionBoundVisitor
public:
TBVMotionBoundVisitor
(
const
BV
&
bv_
,
const
Vec3f
&
n_
)
:
bv
(
bv_
),
n
(
n_
)
{}
virtual
FCL_REAL
visit
(
const
MotionBase
&
motion
)
const
{
return
0
;
}
virtual
FCL_REAL
visit
(
const
SplineMotion
&
motion
)
const
{
return
0
;
}
virtual
FCL_REAL
visit
(
const
ScrewMotion
&
motion
)
const
{
return
0
;
}
virtual
FCL_REAL
visit
(
const
InterpMotion
&
motion
)
const
{
return
0
;
}
virtual
FCL_REAL
visit
(
const
TranslationMotion
&
motion
)
const
{
return
0
;
}
virtual
FCL_REAL
visit
(
const
MotionBase
&
/*
motion
*/
)
const
{
return
0
;
}
virtual
FCL_REAL
visit
(
const
SplineMotion
&
/*
motion
*/
)
const
{
return
0
;
}
virtual
FCL_REAL
visit
(
const
ScrewMotion
&
/*
motion
*/
)
const
{
return
0
;
}
virtual
FCL_REAL
visit
(
const
InterpMotion
&
/*
motion
*/
)
const
{
return
0
;
}
virtual
FCL_REAL
visit
(
const
TranslationMotion
&
/*
motion
*/
)
const
{
return
0
;
}
protected:
BV
bv
;
...
...
@@ -102,7 +102,7 @@ public:
TriangleMotionBoundVisitor
(
const
Vec3f
&
a_
,
const
Vec3f
&
b_
,
const
Vec3f
&
c_
,
const
Vec3f
&
n_
)
:
a
(
a_
),
b
(
b_
),
c
(
c_
),
n
(
n_
)
{}
virtual
FCL_REAL
visit
(
const
MotionBase
&
motion
)
const
{
return
0
;
}
virtual
FCL_REAL
visit
(
const
MotionBase
&
/*
motion
*/
)
const
{
return
0
;
}
virtual
FCL_REAL
visit
(
const
SplineMotion
&
motion
)
const
;
virtual
FCL_REAL
visit
(
const
ScrewMotion
&
motion
)
const
;
virtual
FCL_REAL
visit
(
const
InterpMotion
&
motion
)
const
;
...
...
include/hpp/fcl/narrowphase/narrowphase.h
View file @
c7b38617
...
...
@@ -209,12 +209,12 @@ struct GJKSolver_libccd
}
void
enableCachedGuess
(
bool
if_enable
)
const
void
enableCachedGuess
(
bool
/*
if_enable
*/
)
const
{
// TODO: need change libccd to exploit spatial coherence
}
void
setCachedGuess
(
const
Vec3f
&
guess
)
const
void
setCachedGuess
(
const
Vec3f
&
/*
guess
*/
)
const
{
// TODO: need change libccd to exploit spatial coherence
}
...
...
include/hpp/fcl/shape/geometric_shapes.h
View file @
c7b38617
...
...
@@ -271,7 +271,7 @@ public:
FCL_REAL
*
plane_dis_
,
int
num_planes_
,
Vec3f
*
points_
,
int
num_points_
,
int
/*
num_points_
*/
,
int
*
polygons_
)
:
ShapeBase
()
{
plane_normals
=
plane_normals_
;
...
...
include/hpp/fcl/traversal/traversal_node_base.h
View file @
c7b38617
...
...
@@ -106,7 +106,7 @@ public:
virtual
bool
BVTesting
(
int
b1
,
int
b2
,
FCL_REAL
&
sqrDistLowerBound
)
const
=
0
;
/// @brief Leaf test between node b1 and b2, if they are both leafs
virtual
void
leafTesting
(
int
b1
,
int
b2
,
FCL_REAL
&
sqrDistLowerBound
)
const
virtual
void
leafTesting
(
int
/*b1*/
,
int
/*b2*/
,
FCL_REAL
&
/*
sqrDistLowerBound
*/
)
const
{
throw
std
::
runtime_error
(
"Not implemented"
);
}
...
...
include/hpp/fcl/traversal/traversal_node_bvh_shape.h
View file @
c7b38617
...
...
@@ -723,7 +723,7 @@ public:
}
/// @brief BV culling test in one BVTT node
FCL_REAL
BVTesting
(
int
b1
,
int
b2
)
const
FCL_REAL
BVTesting
(
int
b1
,
int
/*b2*/
)
const
{
return
model1
->
getBV
(
b1
).
bv
.
distance
(
model2_bv
);
}
...
...
@@ -803,7 +803,7 @@ public:
}
/// @brief Distance testing between leaves (one triangle and one shape)
void
leafTesting
(
int
b1
,
int
b2
)
const
void
leafTesting
(
int
b1
,
int
/*b2*/
)
const
{
if
(
this
->
enable_statistics
)
this
->
num_leaf_tests
++
;
...
...
@@ -987,7 +987,7 @@ public:
}
FCL_REAL
BVTesting
(
int
b1
,
int
b2
)
const
FCL_REAL
BVTesting
(
int
b1
,
int
/*b2*/
)
const
{
if
(
this
->
enable_statistics
)
this
->
num_bv_tests
++
;
return
distance
(
this
->
tf1
.
getRotation
(),
this
->
tf1
.
getTranslation
(),
this
->
model2_bv
,
this
->
model1
->
getBV
(
b1
).
bv
);
...
...
src/BV/OBB.cpp
View file @
c7b38617
...
...
@@ -610,7 +610,7 @@ OBB OBB::operator + (const OBB& other) const
}
FCL_REAL
OBB
::
distance
(
const
OBB
&
other
,
Vec3f
*
P
,
Vec3f
*
Q
)
const
FCL_REAL
OBB
::
distance
(
const
OBB
&
/*
other
*/
,
Vec3f
*
/*P*/
,
Vec3f
*
/*Q*/
)
const
{
std
::
cerr
<<
"OBB distance not implemented!"
<<
std
::
endl
;
return
0.0
;
...
...
src/BV/kIOS.cpp
View file @
c7b38617
...
...
@@ -63,7 +63,7 @@ bool kIOS::overlap(const kIOS& other) const
return
true
;
}
bool
kIOS
::
overlap
(
const
kIOS
&
other
,
FCL_REAL
&
sqrDistLowerBound
)
const
bool
kIOS
::
overlap
(
const
kIOS
&
/*
other
*/
,
FCL_REAL
&
/*
sqrDistLowerBound
*/
)
const
{
throw
std
::
runtime_error
(
"Not implemented yet."
);
}
...
...
src/ccd/interpolation/interpolation_linear.cpp
View file @
c7b38617
...
...
@@ -84,7 +84,7 @@ FCL_REAL InterpolationLinear::getMovementLengthBound(FCL_REAL time) const
return
getValueUpperBound
()
-
getValue
(
time
);
}
FCL_REAL
InterpolationLinear
::
getVelocityBound
(
FCL_REAL
time
)
const
FCL_REAL
InterpolationLinear
::
getVelocityBound
(
FCL_REAL
/*
time
*/
)
const
{
return
(
value_1_
-
value_0_
);
}
...
...
src/collision.cpp
View file @
c7b38617
...
...
@@ -50,7 +50,7 @@ CollisionFunctionMatrix<GJKSolver>& getCollisionFunctionLookTable()
{
static
CollisionFunctionMatrix
<
GJKSolver
>
table
;
return
table
;
}
;
}
template
<
typename
NarrowPhaseSolver
>
std
::
size_t
collide
(
const
CollisionObject
*
o1
,
const
CollisionObject
*
o2
,
...
...
src/distance_func_matrix.cpp
View file @
c7b38617
...
...
@@ -280,7 +280,7 @@ FCL_REAL BVHDistance<OBBRSS>(const CollisionGeometry* o1, const Transform3f& tf1
template
<
typename
T_BVH
,
typename
NarrowPhaseSolver
>
FCL_REAL
BVHDistance
(
const
CollisionGeometry
*
o1
,
const
Transform3f
&
tf1
,
const
CollisionGeometry
*
o2
,
const
Transform3f
&
tf2
,
const
NarrowPhaseSolver
*
nsolver
,
const
NarrowPhaseSolver
*
/*
nsolver
*/
,
const
DistanceRequest
&
request
,
DistanceResult
&
result
)
{
return
BVHDistance
<
T_BVH
>
(
o1
,
tf1
,
o2
,
tf2
,
request
,
result
);
...
...
src/narrowphase/narrowphase.cpp
View file @
c7b38617
...
...
@@ -2416,7 +2416,7 @@ bool halfspacePlaneIntersect(const Halfspace& s1, const Transform3f& tf1,
bool
planeIntersect
(
const
Plane
&
s1
,
const
Transform3f
&
tf1
,
const
Plane
&
s2
,
const
Transform3f
&
tf2
,
Vec3f
*
contact_points
,
FCL_REAL
*
penetration_depth
,
Vec3f
*
normal
)
Vec3f
*
/*
contact_points
*/
,
FCL_REAL
*
/*
penetration_depth
*/
,
Vec3f
*
/*
normal
*/
)
{
Plane
new_s1
=
transform
(
s1
,
tf1
);
Plane
new_s2
=
transform
(
s2
,
tf2
);
...
...
@@ -2583,7 +2583,7 @@ bool GJKSolver_libccd::shapeIntersect<Halfspace, Cone>(const Halfspace& s1, cons
template
<
>
bool
GJKSolver_libccd
::
shapeIntersect
<
Halfspace
,
Halfspace
>
(
const
Halfspace
&
s1
,
const
Transform3f
&
tf1
,
const
Halfspace
&
s2
,
const
Transform3f
&
tf2
,
Vec3f
*
contact_points
,
FCL_REAL
*
penetration_depth
,
Vec3f
*
normal
)
const
Vec3f
*
/*
contact_points
*/
,
FCL_REAL
*
/*
penetration_depth
*/
,
Vec3f
*
/*
normal
*/
)
const
{
Halfspace
s
;
Vec3f
p
,
d
;
...
...
@@ -2595,7 +2595,7 @@ bool GJKSolver_libccd::shapeIntersect<Halfspace, Halfspace>(const Halfspace& s1,
template
<
>
bool
GJKSolver_libccd
::
shapeIntersect
<
Plane
,
Halfspace
>
(
const
Plane
&
s1
,
const
Transform3f
&
tf1
,
const
Halfspace
&
s2
,
const
Transform3f
&
tf2
,
Vec3f
*
contact_points
,
FCL_REAL
*
penetration_depth
,
Vec3f
*
normal
)
const
Vec3f
*
/*
contact_points
*/
,
FCL_REAL
*
/*
penetration_depth
*/
,
Vec3f
*
/*
normal
*/
)
const
{
Plane
pl
;
Vec3f
p
,
d
;
...
...
@@ -2607,7 +2607,7 @@ bool GJKSolver_libccd::shapeIntersect<Plane, Halfspace>(const Plane& s1, const T
template
<
>
bool
GJKSolver_libccd
::
shapeIntersect
<
Halfspace
,
Plane
>
(
const
Halfspace
&
s1
,
const
Transform3f
&
tf1
,
const
Plane
&
s2
,
const
Transform3f
&
tf2
,
Vec3f
*
contact_points
,
FCL_REAL
*
penetration_depth
,
Vec3f
*
normal
)
const
Vec3f
*
/*
contact_points
*/
,
FCL_REAL
*
/*
penetration_depth
*/
,
Vec3f
*
/*
normal
*/
)
const
{
Plane
pl
;
Vec3f
p
,
d
;
...
...
@@ -2792,9 +2792,9 @@ bool GJKSolver_libccd::shapeDistance<Sphere, Sphere>(const Sphere& s1, const Tra
}
template
<
>
bool
GJKSolver_libccd
::
shapeDistance
<
Capsule
,
Capsule
>
(
const
Capsule
&
s1
,
const
Transform3f
&
tf1
,
const
Capsule
&
s2
,
const
Transform3f
&
tf2
,
FCL_REAL
*
dist
,
Vec3f
*
p1
,
Vec3f
*
p2
)
const
bool
GJKSolver_libccd
::
shapeDistance
<
Capsule
,
Capsule
>
(
const
Capsule
&
/*s1*/
,
const
Transform3f
&
/*
tf1
*/
,
const
Capsule
&
/*s2*/
,
const
Transform3f
&
/*
tf2
*/
,
FCL_REAL
*
/*
dist
*/
,
Vec3f
*
/*p1*/
,
Vec3f
*
/*p2*/
)
const
{
abort
();
}
...
...
@@ -2967,7 +2967,7 @@ bool GJKSolver_indep::shapeIntersect<Halfspace, Cone>(const Halfspace& s1, const
template
<
>
bool
GJKSolver_indep
::
shapeIntersect
<
Halfspace
,
Halfspace
>
(
const
Halfspace
&
s1
,
const
Transform3f
&
tf1
,
const
Halfspace
&
s2
,
const
Transform3f
&
tf2
,
Vec3f
*
contact_points
,
FCL_REAL
*
penetration_depth
,
Vec3f
*
normal
)
const
Vec3f
*
/*
contact_points
*/
,
FCL_REAL
*
/*
penetration_depth
*/
,
Vec3f
*
/*
normal
*/
)
const
{
Halfspace
s
;
Vec3f
p
,
d
;
...
...
@@ -2979,7 +2979,7 @@ bool GJKSolver_indep::shapeIntersect<Halfspace, Halfspace>(const Halfspace& s1,
template
<
>
bool
GJKSolver_indep
::
shapeIntersect
<
Plane
,
Halfspace
>
(
const
Plane
&
s1
,
const
Transform3f
&
tf1
,
const
Halfspace
&
s2
,
const
Transform3f
&
tf2
,
Vec3f
*
contact_points
,
FCL_REAL
*
penetration_depth
,
Vec3f
*
normal
)
const
Vec3f
*
/*
contact_points
*/
,
FCL_REAL
*
/*
penetration_depth
*/
,
Vec3f
*
/*
normal
*/
)
const
{
Plane
pl
;
Vec3f
p
,
d
;
...
...
@@ -2991,7 +2991,7 @@ bool GJKSolver_indep::shapeIntersect<Plane, Halfspace>(const Plane& s1, const Tr
template
<
>
bool
GJKSolver_indep
::
shapeIntersect
<
Halfspace
,
Plane
>
(
const
Halfspace
&
s1
,
const
Transform3f
&
tf1
,
const
Plane
&
s2
,
const
Transform3f
&
tf2
,
Vec3f
*
contact_points
,
FCL_REAL
*
penetration_depth
,
Vec3f
*
normal
)
const
Vec3f
*
/*
contact_points
*/
,
FCL_REAL
*
/*
penetration_depth
*/
,
Vec3f
*
/*
normal
*/
)
const
{
Plane
pl
;
Vec3f
p
,
d
;
...
...
@@ -3176,9 +3176,9 @@ bool GJKSolver_indep::shapeDistance<Sphere, Sphere>(const Sphere& s1, const Tran
}
template
<
>
bool
GJKSolver_indep
::
shapeDistance
<
Capsule
,
Capsule
>
(
const
Capsule
&
s1
,
const
Transform3f
&
tf1
,
const
Capsule
&
s2
,
const
Transform3f
&
tf2
,
FCL_REAL
*
dist
,
Vec3f
*
p1
,
Vec3f
*
p2
)
const
bool
GJKSolver_indep
::
shapeDistance
<
Capsule
,
Capsule
>
(
const
Capsule
&
/*s1*/
,
const
Transform3f
&
/*
tf1
*/
,
const
Capsule
&
/*s2*/
,
const
Transform3f
&
/*
tf2
*/
,
FCL_REAL
*
/*
dist
*/
,
Vec3f
*
/*p1*/
,
Vec3f
*
/*p2*/
)
const
{
abort
();
}
...
...
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