Export symbols.

include/hpp/fcl/BV/AABB.h

@@ -52,7 +52,7 @@ struct CollisionRequest;
 /// @{
 
 /// @brief A class describing the AABB collision structure, which is a box in 3D space determined by two diagonal points
-class AABB
+class HPP_FCL_DLLAPI AABB
 {
 public:
   /// @brief The min point in the AABB

include/hpp/fcl/BV/BV.h

@@ -59,7 +59,7 @@ namespace details
 
 /// @brief Convert a bounding volume of type BV1 in configuration tf1 to a bounding volume of type BV2 in I configuration.
 template<typename BV1, typename BV2>
-class Converter
+class HPP_FCL_DLLAPI Converter
 {
 private:
   static void convert(const BV1& /*bv1*/, const Transform3f& /*tf1*/, BV2& /*bv2*/)
@@ -71,7 +71,7 @@ private:
 
 /// @brief Convert from AABB to AABB, not very tight but is fast.
 template<>
-class Converter<AABB, AABB>
+class HPP_FCL_DLLAPI Converter<AABB, AABB>
 {
 public:
   static void convert(const AABB& bv1, const Transform3f& tf1, AABB& bv2)
@@ -86,7 +86,7 @@ public:
 };
 
 template<>
-class Converter<AABB, OBB>
+class HPP_FCL_DLLAPI Converter<AABB, OBB>
 {
 public:
   static void convert(const AABB& bv1, const Transform3f& tf1, OBB& bv2)
@@ -98,7 +98,7 @@ public:
 };
 
 template<>
-class Converter<OBB, OBB>
+class HPP_FCL_DLLAPI Converter<OBB, OBB>
 {
 public:
   static void convert(const OBB& bv1, const Transform3f& tf1, OBB& bv2)
@@ -110,7 +110,7 @@ public:
 };
 
 template<>
-class Converter<OBBRSS, OBB>
+class HPP_FCL_DLLAPI Converter<OBBRSS, OBB>
 {
 public:
   static void convert(const OBBRSS& bv1, const Transform3f& tf1, OBB& bv2)
@@ -120,7 +120,7 @@ public:
 };
 
 template<>
-class Converter<RSS, OBB>
+class HPP_FCL_DLLAPI Converter<RSS, OBB>
 {
 public:
   static void convert(const RSS& bv1, const Transform3f& tf1, OBB& bv2)
@@ -133,7 +133,7 @@ public:
 
 
 template<typename BV1>
-class Converter<BV1, AABB>
+class HPP_FCL_DLLAPI Converter<BV1, AABB>
 {
 public:
   static void convert(const BV1& bv1, const Transform3f& tf1, AABB& bv2)
@@ -148,7 +148,7 @@ public:
 };
 
 template<typename BV1>
-class Converter<BV1, OBB>
+class HPP_FCL_DLLAPI Converter<BV1, OBB>
 {
 public:
   static void convert(const BV1& bv1, const Transform3f& tf1, OBB& bv2)
@@ -160,7 +160,7 @@ public:
 };
 
 template<>
-class Converter<OBB, RSS>
+class HPP_FCL_DLLAPI Converter<OBB, RSS>
 {
 public:
   static void convert(const OBB& bv1, const Transform3f& tf1, RSS& bv2)
@@ -175,7 +175,7 @@ public:
 };
 
 template<>
-class Converter<RSS, RSS>
+class HPP_FCL_DLLAPI Converter<RSS, RSS>
 {
 public:
   static void convert(const RSS& bv1, const Transform3f& tf1, RSS& bv2)
@@ -190,7 +190,7 @@ public:
 };
 
 template<>
-class Converter<OBBRSS, RSS>
+class HPP_FCL_DLLAPI Converter<OBBRSS, RSS>
 {
 public:
   static void convert(const OBBRSS& bv1, const Transform3f& tf1, RSS& bv2)
@@ -200,7 +200,7 @@ public:
 };
 
 template<>
-class Converter<AABB, RSS>
+class HPP_FCL_DLLAPI Converter<AABB, RSS>
 {
 public:
   static void convert(const AABB& bv1, const Transform3f& tf1, RSS& bv2)
@@ -246,7 +246,7 @@ public:
 };
 
 template<>
-class Converter<AABB, OBBRSS>
+class HPP_FCL_DLLAPI Converter<AABB, OBBRSS>
 {
 public:
   static void convert(const AABB& bv1, const Transform3f& tf1, OBBRSS& bv2)

include/hpp/fcl/BV/BV_node.h

@@ -54,7 +54,7 @@ namespace fcl
 /// @{
 
 /// @brief BVNodeBase encodes the tree structure for BVH
-struct BVNodeBase
+struct HPP_FCL_DLLAPI BVNodeBase
 {
   /// @brief An index for first child node or primitive
   /// If the value is positive, it is the index of the first child bv node
@@ -84,7 +84,7 @@ struct BVNodeBase
 
 /// @brief A class describing a bounding volume node. It includes the tree structure providing in BVNodeBase and also the geometry data provided in BV template parameter.
 template<typename BV>
-struct BVNode : public BVNodeBase
+struct HPP_FCL_DLLAPI BVNode : public BVNodeBase
 {
   /// @brief bounding volume storing the geometry
   BV bv;

include/hpp/fcl/BV/OBB.h

@@ -51,7 +51,7 @@ struct CollisionRequest;
 /// @{
 
 /// @brief Oriented bounding box class
-class OBB
+class HPP_FCL_DLLAPI OBB
 {
 public:
   /// @brief Orientation of OBB. axis[i] is the ith column of the orientation matrix for the box; it is also the i-th principle direction of the box. 

include/hpp/fcl/BV/OBBRSS.h

@@ -53,7 +53,7 @@ namespace fcl
 /// @{
 
 /// @brief Class merging the OBB and RSS, can handle collision and distance simultaneously
-class OBBRSS
+class HPP_FCL_DLLAPI OBBRSS
 {
 public:
 

include/hpp/fcl/BV/RSS.h

@@ -52,7 +52,7 @@ struct CollisionRequest;
 /// @{
 
 /// @brief A class for rectangle sphere-swept bounding volume
-class RSS
+class HPP_FCL_DLLAPI RSS
 {
 public:
   /// @brief Orientation of RSS. axis[i] is the ith column of the orientation matrix for the RSS; it is also the i-th principle direction of the RSS.

include/hpp/fcl/BV/kDOP.h

@@ -86,7 +86,7 @@ struct CollisionRequest;
 /// (-1, 1, -1) and (1, -1, 1) --> indices 10 and 22
 /// (1, -1, -1) and (-1, 1, 1) --> indices 11 and 23
 template<short N>
-class KDOP
+class HPP_FCL_DLLAPI KDOP
 {
 private:
   /// @brief Origin's distances to N KDOP planes

include/hpp/fcl/BV/kIOS.h

@@ -52,10 +52,10 @@ struct CollisionRequest;
 /// @{
 
 /// @brief A class describing the kIOS collision structure, which is a set of spheres.
-class kIOS
+class HPP_FCL_DLLAPI kIOS
 {
   /// @brief One sphere in kIOS
-  struct kIOS_Sphere
+  struct HPP_FCL_DLLAPI kIOS_Sphere
   {
     Vec3f o;
     FCL_REAL r;

include/hpp/fcl/BVH/BVH_front.h

@@ -41,6 +41,8 @@
 
 #include <list>
 
+#include <hpp/fcl/config.hh>
+
 namespace hpp
 {
 namespace fcl
@@ -50,7 +52,7 @@ namespace fcl
 /// Front list is a set of internal and leaf nodes in the BVTT hierarchy, where
 /// the traversal terminates while performing a query during a given time instance. The front list reflects the subset of a
 /// BVTT that is traversed for that particular proximity query.
-struct BVHFrontNode
+struct HPP_FCL_DLLAPI BVHFrontNode
 {
   /// @brief The nodes to start in the future, i.e. the wave front of the traversal tree.
   int left, right;

include/hpp/fcl/BVH/BVH_model.h

@@ -59,7 +59,7 @@ template <typename BV> class BVFitter;
 template <typename BV> class BVSplitter;
 
 /// @brief A base class describing the bounding hierarchy of a mesh model or a point cloud model (which is viewed as a degraded version of mesh)
-class BVHModelBase : public CollisionGeometry
+class HPP_FCL_DLLAPI BVHModelBase : public CollisionGeometry
 {
 public:
   /// @brief Geometry point data
@@ -266,7 +266,7 @@ protected:
 /// @brief A class describing the bounding hierarchy of a mesh model or a point cloud model (which is viewed as a degraded version of mesh)
 /// \tparam BV one of the bounding volume class in \ref Bounding_Volume.
 template<typename BV>
-class BVHModel : public BVHModelBase
+class HPP_FCL_DLLAPI BVHModel : public BVHModelBase
 {
 
 public:

include/hpp/fcl/collision_data.h

@@ -56,7 +56,7 @@ namespace fcl
 const int GST_INDEP HPP_FCL_DEPRECATED = 0;
 
 /// @brief Contact information returned by collision
-struct Contact
+struct HPP_FCL_DLLAPI Contact
 {
   /// @brief collision object 1
   const CollisionGeometry* o1;
@@ -139,7 +139,7 @@ struct Contact
 struct QueryResult;
 
 /// @brief base class for all query requests
-struct QueryRequest
+struct HPP_FCL_DLLAPI QueryRequest
 {
   /// @brief whether enable gjk intial guess
   bool enable_cached_gjk_guess;
@@ -160,7 +160,7 @@ struct QueryRequest
 };
 
 /// @brief base class for all query results
-struct QueryResult
+struct HPP_FCL_DLLAPI QueryResult
 {
   /// @brief stores the last GJK ray when relevant.
   Vec3f cached_gjk_guess;
@@ -188,7 +188,7 @@ enum CollisionRequestFlag
 };
 
 /// @brief request to the collision algorithm
-struct CollisionRequest : QueryRequest
+struct HPP_FCL_DLLAPI CollisionRequest : QueryRequest
 {  
   /// @brief The maximum number of contacts will return
   size_t num_max_contacts;
@@ -237,7 +237,7 @@ struct CollisionRequest : QueryRequest
 };
 
 /// @brief collision result
-struct CollisionResult : QueryResult
+struct HPP_FCL_DLLAPI CollisionResult : QueryResult
 {
 private:
   /// @brief contact information
@@ -321,7 +321,7 @@ public:
 struct DistanceResult;
 
 /// @brief request to the distance computation
-struct DistanceRequest : QueryRequest
+struct HPP_FCL_DLLAPI DistanceRequest : QueryRequest
 {
   /// @brief whether to return the nearest points
   bool enable_nearest_points;
@@ -357,7 +357,7 @@ struct DistanceRequest : QueryRequest
 };
 
 /// @brief distance result
-struct DistanceResult : QueryResult
+struct HPP_FCL_DLLAPI DistanceResult : QueryResult
 {
 
 public:

include/hpp/fcl/collision_func_matrix.h

@@ -51,7 +51,7 @@ namespace fcl
 
 /// @brief collision matrix stores the functions for collision between different types of objects and provides a uniform call interface
 
-struct CollisionFunctionMatrix
+struct HPP_FCL_DLLAPI CollisionFunctionMatrix
 {
   /// @brief the uniform call interface for collision: for collision, we need know
   /// 1. two objects o1 and o2 and their configuration in world coordinate tf1 and tf2;

include/hpp/fcl/collision_object.h

@@ -60,7 +60,7 @@ enum NODE_TYPE {BV_UNKNOWN, BV_AABB, BV_OBB, BV_RSS, BV_kIOS, BV_OBBRSS, BV_KDOP
 /// @{
 
 /// @brief The geometry for the object for collision or distance computation
-class CollisionGeometry
+class HPP_FCL_DLLAPI CollisionGeometry
 {
 public:
   CollisionGeometry() : cost_density(1),
@@ -154,7 +154,7 @@ public:
 };
 
 /// @brief the object for collision or distance computation, contains the geometry and the transform information
-class CollisionObject
+class HPP_FCL_DLLAPI CollisionObject
 {
 public:
  CollisionObject(const boost::shared_ptr<CollisionGeometry> &cgeom_) :

include/hpp/fcl/data_types.h

@@ -44,6 +44,7 @@
 #include <Eigen/Core>
 #include <Eigen/Geometry>
 
+#include <hpp/fcl/config.hh>
 
 namespace hpp
 {
@@ -75,7 +76,7 @@ typedef Eigen::Matrix<FCL_REAL, 3, 3> Matrix3f;
 typedef Eigen::Vector2i support_func_guess_t;
 
 /// @brief Triangle with 3 indices for points
-class Triangle
+class HPP_FCL_DLLAPI Triangle
 {
 public:
   typedef std::size_t index_type;

include/hpp/fcl/distance_func_matrix.h

@@ -48,7 +48,7 @@ namespace fcl
 {
 
 /// @brief distance matrix stores the functions for distance between different types of objects and provides a uniform call interface
-struct DistanceFunctionMatrix
+struct HPP_FCL_DLLAPI DistanceFunctionMatrix
 {
   /// @brief the uniform call interface for distance: for distance, we need know
   /// 1. two objects o1 and o2 and their configuration in world coordinate tf1 and tf2;

include/hpp/fcl/fwd.hh

@@ -39,6 +39,8 @@
 
 #include <boost/shared_ptr.hpp>
 
+#include <hpp/fcl/config.hh>
+
 namespace hpp {
 namespace fcl {
   class CollisionObject;

include/hpp/fcl/internal/BV_fitter.h

@@ -76,7 +76,7 @@ void fit<AABB>(Vec3f* ps, int n, AABB& bv);
 
 /// @brief The class for the default algorithm fitting a bounding volume to a set of points
 template<typename BV>
-class BVFitterTpl
+class HPP_FCL_DLLAPI BVFitterTpl
 {
 public:
   /// @brief default deconstructor
@@ -122,7 +122,7 @@ protected:
 
 /// @brief The class for the default algorithm fitting a bounding volume to a set of points
 template<typename BV>
-class BVFitter : public BVFitterTpl<BV>
+class HPP_FCL_DLLAPI BVFitter : public BVFitterTpl<BV>
 {
 public:
   /// @brief Compute a bounding volume that fits a set of primitives (points or triangles).
@@ -173,7 +173,7 @@ protected:
 
 /// @brief Specification of BVFitter for OBB bounding volume
 template<>
-class BVFitter<OBB> : public BVFitterTpl<OBB>
+class HPP_FCL_DLLAPI BVFitter<OBB> : public BVFitterTpl<OBB>
 {
 public:
   /// @brief Compute a bounding volume that fits a set of primitives (points or triangles).
@@ -183,7 +183,7 @@ public:
 
 /// @brief Specification of BVFitter for RSS bounding volume
 template<>
-class BVFitter<RSS> : public BVFitterTpl<RSS>
+class HPP_FCL_DLLAPI BVFitter<RSS> : public BVFitterTpl<RSS>
 {
 public:
   /// @brief Compute a bounding volume that fits a set of primitives (points or triangles).
@@ -193,7 +193,7 @@ public:
 
 /// @brief Specification of BVFitter for kIOS bounding volume
 template<>
-class BVFitter<kIOS> : public BVFitterTpl<kIOS>
+class HPP_FCL_DLLAPI BVFitter<kIOS> : public BVFitterTpl<kIOS>
 {
 public:
   /// @brief Compute a bounding volume that fits a set of primitives (points or triangles).
@@ -203,7 +203,7 @@ public:
 
 /// @brief Specification of BVFitter for OBBRSS bounding volume
 template<>
-class BVFitter<OBBRSS> : public BVFitterTpl<OBBRSS>
+class HPP_FCL_DLLAPI BVFitter<OBBRSS> : public BVFitterTpl<OBBRSS>
 {
 public:
   /// @brief Compute a bounding volume that fits a set of primitives (points or triangles).
@@ -213,7 +213,7 @@ public:
 
 /// @brief Specification of BVFitter for AABB bounding volume
 template<>
-class BVFitter<AABB> : public BVFitterTpl<AABB>
+class HPP_FCL_DLLAPI BVFitter<AABB> : public BVFitterTpl<AABB>
 {
 public:
   /// @brief Compute a bounding volume that fits a set of primitives (points or triangles).

include/hpp/fcl/internal/BV_splitter.h

@@ -55,7 +55,7 @@ enum SplitMethodType {SPLIT_METHOD_MEAN, SPLIT_METHOD_MEDIAN, SPLIT_METHOD_BV_CE
 
 /// @brief A class describing the split rule that splits each BV node
 template<typename BV>
-class BVSplitter
+class HPP_FCL_DLLAPI BVSplitter
 {
 public:
 

include/hpp/fcl/internal/intersect.h

@@ -49,7 +49,7 @@ namespace fcl
 {
 
 /// @brief CCD intersect kernel among primitives
-class Intersect
+class HPP_FCL_DLLAPI Intersect
 {
 public:
   static bool buildTrianglePlane
@@ -57,10 +57,10 @@ public:
 }; // class Intersect
 
 /// @brief Project functions
-class Project
+class HPP_FCL_DLLAPI Project
 {
 public:
-  struct ProjectResult
+  struct HPP_FCL_DLLAPI ProjectResult
   {
     /// @brief Parameterization of the projected point (based on the simplex to be projected, use 2 or 3 or 4 of the array)
     FCL_REAL parameterization[4];
@@ -96,7 +96,7 @@ public:
 };
 
 /// @brief Triangle distance functions
-class TriangleDistance
+class HPP_FCL_DLLAPI TriangleDistance
 {
 public:
 

include/hpp/fcl/internal/traversal.h

@@ -51,7 +51,7 @@ enum {
 namespace details
 {
   template <bool enabled>
-  struct RelativeTransformation
+  struct HPP_FCL_DLLAPI RelativeTransformation
   {
     RelativeTransformation () : R (Matrix3f::Identity()) {}
 
@@ -63,7 +63,7 @@ namespace details
   };
 
   template <>
-  struct RelativeTransformation <false>
+  struct HPP_FCL_DLLAPI RelativeTransformation <false>
   {
     static const Matrix3f& _R () { throw std::logic_error ("should never reach this point"); }
     static const Vec3f   & _T () { throw std::logic_error ("should never reach this point"); }