flexible-collision-library · SpaceIm · Apr 7, 2020 · Jan 26, 2022 · Jan 26, 2022 · Jan 26, 2022
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -46,9 +46,7 @@ configure_file(CTestCustom.cmake.in CTestCustom.cmake @ONLY)
 
 option(FCL_ENABLE_PROFILING "Enable profiling" OFF)
 option(FCL_TREAT_WARNINGS_AS_ERRORS "Treat warnings as errors" OFF)
-# Option for some bundle-like build system in order not to expose
-# any FCL binary symbols in their public ABI
-option(FCL_HIDE_ALL_SYMBOLS "Hide all binary symbols" OFF)
+option(FCL_HIDE_ALL_SYMBOLS "Hide all binary symbols" ON)
 
 # set the default build type
 if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
@@ -65,7 +63,11 @@ if(MSVC OR MSVC90 OR MSVC10)
     set(MSVC ON)
 endif (MSVC OR MSVC90 OR MSVC10)
 
-set(LIBRARY_OUTPUT_PATH ${PROJECT_BINARY_DIR}/lib)
+if(WIN32)
+  set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/bin)
+else()
+  set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/lib)
+endif()
 set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/CMakeModules")
 include(CMakePackageConfigHelpers)
 include(GenerateExportHeader)
@@ -378,7 +380,8 @@ if(NOT FCL_BUILD_TESTS STREQUAL "DEFAULT")
   unset(_BUILD_TESTING)
 endif()
 
-if(BUILD_TESTING AND NOT FCL_HIDE_ALL_SYMBOLS)
+if(BUILD_TESTING)
+    enable_testing()
     add_subdirectory(test)
 endif()
 

diff --git a/CMakeModules/CompilerSettings.cmake b/CMakeModules/CompilerSettings.cmake
@@ -64,7 +64,10 @@ if(MSVC)
     if(MSVC_VERSION VERSION_LESS 1900)
         message(FATAL_ERROR "${PROJECT_NAME} requires Visual Studio 2015 or greater.")
     endif()
-    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /EHsc /MP /W1 /bigobj")
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /EHsc /MP /bigobj")
+    if(CMAKE_CXX_FLAGS MATCHES "/W[0-4]")
+      STRING(REGEX REPLACE "/W[0-4]" "/W1" CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}")
+    endif()
     if(FCL_TREAT_WARNINGS_AS_ERRORS)
         add_definitions(/WX)
     endif()

diff --git a/include/fcl/CMakeLists.txt b/include/fcl/CMakeLists.txt
@@ -35,8 +35,18 @@ set(GENERATED_FILE_MARKER "GENERATED FILE DO NOT EDIT")
 
 configure_file(config.h.in config.h @ONLY)
 
+set(FCL_EXPORT_MACRO_NAME "FCL_EXPORT")
+set(EXPORT_INSTANTIATION_TEMPLATE_MACROS "
+#if defined(${PROJECT_NAME}_EXPORTS) && defined(_MSC_VER)
+#  define FCL_EXPORT_EXPL_INST_DECL
+#else
+#  define FCL_EXPORT_EXPL_INST_DECL ${FCL_EXPORT_MACRO_NAME}
+#endif
+")
 generate_export_header(${PROJECT_NAME}
+  EXPORT_MACRO_NAME ${FCL_EXPORT_MACRO_NAME}
   EXPORT_FILE_NAME export.h
+  CUSTOM_CONTENT_FROM_VARIABLE EXPORT_INSTANTIATION_TEMPLATE_MACROS
 )
 
 get_filename_component(PARENT_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}"

diff --git a/include/fcl/broadphase/broadphase_SSaP-inl.h b/include/fcl/broadphase/broadphase_SSaP-inl.h
@@ -44,8 +44,10 @@ namespace fcl
 {
 
 //==============================================================================
+#ifndef FCL_BROADPHASE_SSAP_BUILDING
 extern template
-class FCL_EXPORT SSaPCollisionManager<double>;
+class FCL_EXPORT_EXPL_INST_DECL SSaPCollisionManager<double>;
+#endif
 
 /** @brief Functor sorting objects according to the AABB<S> lower x bound */
 template <typename S>
@@ -85,7 +87,7 @@ struct SortByZLow
 
 /** @brief Dummy collision object with a point AABB<S> */
 template <typename S>
-class FCL_EXPORT DummyCollisionObject : public CollisionObject<S>
+class DummyCollisionObject : public CollisionObject<S>
 {
 public:
   DummyCollisionObject(const AABB<S>& aabb_) : CollisionObject<S>(std::shared_ptr<CollisionGeometry<S>>())

diff --git a/include/fcl/broadphase/broadphase_SSaP.h b/include/fcl/broadphase/broadphase_SSaP.h
@@ -46,7 +46,7 @@ namespace fcl
 
 /// @brief Simple SAP collision manager 
 template <typename S>
-class FCL_EXPORT SSaPCollisionManager : public BroadPhaseCollisionManager<S>
+class SSaPCollisionManager : public BroadPhaseCollisionManager<S>
 {
 public:
   SSaPCollisionManager();

diff --git a/include/fcl/broadphase/broadphase_SaP-inl.h b/include/fcl/broadphase/broadphase_SaP-inl.h
@@ -44,8 +44,10 @@ namespace fcl
 {
 
 //==============================================================================
+#ifndef FCL_BROADPHASE_SAP_BUILDING
 extern template
-class FCL_EXPORT SaPCollisionManager<double>;
+class FCL_EXPORT_EXPL_INST_DECL SaPCollisionManager<double>;
+#endif
 
 //==============================================================================
 template <typename S>

diff --git a/include/fcl/broadphase/broadphase_SaP.h b/include/fcl/broadphase/broadphase_SaP.h
@@ -48,7 +48,7 @@ namespace fcl
 
 /// @brief Rigorous SAP collision manager
 template <typename S>
-class FCL_EXPORT SaPCollisionManager : public BroadPhaseCollisionManager<S>
+class SaPCollisionManager : public BroadPhaseCollisionManager<S>
 {
 public:
 
@@ -119,10 +119,10 @@ class FCL_EXPORT SaPCollisionManager : public BroadPhaseCollisionManager<S>
   struct SaPPair;
 
   /// @brief Functor to help unregister one object
-  class FCL_EXPORT isUnregistered;
+  class isUnregistered;
 
   /// @brief Functor to help remove collision pairs no longer valid (i.e., should be culled away)
-  class FCL_EXPORT isNotValidPair;
+  class isNotValidPair;
 
   void update_(SaPAABB* updated_aabb);
 
@@ -215,7 +215,7 @@ struct SaPCollisionManager<S>::SaPPair
 
 /// @brief Functor to help unregister one object
 template <typename S>
-class FCL_EXPORT SaPCollisionManager<S>::isUnregistered
+class SaPCollisionManager<S>::isUnregistered
 {
   CollisionObject<S>* obj;
 
@@ -227,7 +227,7 @@ class FCL_EXPORT SaPCollisionManager<S>::isUnregistered
 
 /// @brief Functor to help remove collision pairs no longer valid (i.e., should be culled away)
 template <typename S>
-class FCL_EXPORT SaPCollisionManager<S>::isNotValidPair
+class SaPCollisionManager<S>::isNotValidPair
 {
   CollisionObject<S>* obj1;
   CollisionObject<S>* obj2;

diff --git a/include/fcl/broadphase/broadphase_bruteforce-inl.h b/include/fcl/broadphase/broadphase_bruteforce-inl.h
@@ -45,8 +45,10 @@
 namespace fcl {
 
 //==============================================================================
+#ifndef FCL_BROADPHASE_BRUTEFORCE_BUILDING
 extern template
-class FCL_EXPORT NaiveCollisionManager<double>;
+class FCL_EXPORT_EXPL_INST_DECL NaiveCollisionManager<double>;
+#endif
 
 //==============================================================================
 template <typename S>

diff --git a/include/fcl/broadphase/broadphase_bruteforce.h b/include/fcl/broadphase/broadphase_bruteforce.h
@@ -46,7 +46,7 @@ namespace fcl
 
 /// @brief Brute force N-body collision manager
 template <typename S>
-class FCL_EXPORT NaiveCollisionManager : public BroadPhaseCollisionManager<S>
+class NaiveCollisionManager : public BroadPhaseCollisionManager<S>
 {
 public:
   NaiveCollisionManager();

diff --git a/include/fcl/broadphase/broadphase_collision_manager-inl.h b/include/fcl/broadphase/broadphase_collision_manager-inl.h
@@ -45,8 +45,10 @@
 namespace fcl {
 
 //==============================================================================
+#ifndef FCL_BROADPHASE_COLLISION_MANAGER_BUILDING
 extern template
-class FCL_EXPORT BroadPhaseCollisionManager<double>;
+class FCL_EXPORT_EXPL_INST_DECL BroadPhaseCollisionManager<double>;
+#endif
 
 //==============================================================================
 template <typename S>

diff --git a/include/fcl/broadphase/broadphase_collision_manager.h b/include/fcl/broadphase/broadphase_collision_manager.h
@@ -63,7 +63,7 @@ using DistanceCallBack = bool (*)(
 /// collision/distance between N objects. Also support self collision, self
 /// distance and collision/distance with another M objects.
 template <typename S>
-class FCL_EXPORT BroadPhaseCollisionManager
+class BroadPhaseCollisionManager
 {
 public:
   BroadPhaseCollisionManager();

diff --git a/include/fcl/broadphase/broadphase_continuous_collision_manager-inl.h b/include/fcl/broadphase/broadphase_continuous_collision_manager-inl.h
@@ -45,8 +45,10 @@
 namespace fcl {
 
 //==============================================================================
+#ifndef FCL_BROADPHASE_CONTINUOUS_COLLISION_MANAGER_BUILDING
 extern template
-class FCL_EXPORT BroadPhaseContinuousCollisionManager<double>;
+class FCL_EXPORT_EXPL_INST_DECL BroadPhaseContinuousCollisionManager<double>;
+#endif
 
 //==============================================================================
 template <typename S>

diff --git a/include/fcl/broadphase/broadphase_continuous_collision_manager.h b/include/fcl/broadphase/broadphase_continuous_collision_manager.h
@@ -63,7 +63,7 @@ using ContinuousDistanceCallBack = bool (*)(
 /// accelerate the continuous collision/distance between N objects. Also support
 /// self collision, self distance and collision/distance with another M objects.
 template <typename S>
-class FCL_EXPORT BroadPhaseContinuousCollisionManager
+class BroadPhaseContinuousCollisionManager
 {
 public:
   BroadPhaseContinuousCollisionManager();