flexible-collision-library · SpaceIm · Apr 7, 2020 · Jan 26, 2022 · Jan 26, 2022 · Jan 26, 2022
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -31,13 +31,7 @@
 # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 # POSSIBILITY OF SUCH DAMAGE.
 
-if(APPLE)
-  cmake_minimum_required(VERSION 3.0.0)
-elseif(MSVC)
-  cmake_minimum_required(VERSION 3.1.3)
-else()
-  cmake_minimum_required(VERSION 2.8.12)
-endif()
+cmake_minimum_required(VERSION 3.7)
 
 project(fcl CXX)
 

diff --git a/include/fcl/CMakeLists.txt b/include/fcl/CMakeLists.txt
@@ -35,8 +35,29 @@ set(GENERATED_FILE_MARKER "GENERATED FILE DO NOT EDIT")
 
 configure_file(config.h.in config.h @ONLY)
 
+set(FCL_EXPORT_MACRO_NAME "FCL_API")
+if(MSVC)
+  set(EXPORT_INSTANTIATION_TEMPLATE_MACROS "
+#ifdef ${PROJECT_NAME}_EXPORTS
+    /* We are building this library */
+#  define FCL_EXTERN_TEMPLATE_API
+#  define FCL_INSTANTIATION_DEF_API ${FCL_EXPORT_MACRO_NAME}
+#else
+    /* We are using this library */
+#  define FCL_EXTERN_TEMPLATE_API ${FCL_EXPORT_MACRO_NAME}
+#  define FCL_INSTANTIATION_DEF_API
+#endif
+")
+else()
+  set(EXPORT_INSTANTIATION_TEMPLATE_MACROS "
+#define FCL_EXTERN_TEMPLATE_API ${FCL_EXPORT_MACRO_NAME}
+#define FCL_INSTANTIATION_DEF_API
+")
+endif()
 generate_export_header(${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
@@ -31,7 +31,7 @@
  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  *  POSSIBILITY OF SUCH DAMAGE.
- */ 
+ */
 
 /** @author Jia Pan */
 
@@ -45,7 +45,7 @@ namespace fcl
 
 //==============================================================================
 extern template
-class FCL_EXPORT SSaPCollisionManager<double>;
+class FCL_EXTERN_TEMPLATE_API SSaPCollisionManager<double>;
 
 /** @brief Functor sorting objects according to the AABB<S> lower x bound */
 template <typename S>
@@ -85,7 +85,7 @@ 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
@@ -31,7 +31,7 @@
  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  *  POSSIBILITY OF SUCH DAMAGE.
- */ 
+ */
 
 /** @author Jia Pan */
 
@@ -44,9 +44,9 @@
 namespace fcl
 {
 
-/// @brief Simple SAP collision manager 
+/// @brief Simple SAP collision manager
 template <typename S>
-class FCL_EXPORT SSaPCollisionManager : public BroadPhaseCollisionManager<S>
+class SSaPCollisionManager : public BroadPhaseCollisionManager<S>
 {
 public:
   SSaPCollisionManager();
@@ -89,21 +89,21 @@ class FCL_EXPORT SSaPCollisionManager : public BroadPhaseCollisionManager<S>
 
   /// @brief whether the manager is empty
   bool empty() const;
-  
+
   /// @brief the number of objects managed by the manager
   size_t size() const;
 
 protected:
   /// @brief check collision between one object and a list of objects, return value is whether stop is possible
   bool checkColl(typename std::vector<CollisionObject<S>*>::const_iterator pos_start, typename std::vector<CollisionObject<S>*>::const_iterator pos_end,
                  CollisionObject<S>* obj, void* cdata, CollisionCallBack<S> callback) const;
-  
+
   /// @brief check distance between one object and a list of objects, return value is whether stop is possible
   bool checkDis(typename std::vector<CollisionObject<S>*>::const_iterator pos_start, typename std::vector<CollisionObject<S>*>::const_iterator pos_end,
                 CollisionObject<S>* obj, void* cdata, DistanceCallBack<S> callback, S& min_dist) const;
 
   bool collide_(CollisionObject<S>* obj, void* cdata, CollisionCallBack<S> callback) const;
-  
+
   bool distance_(CollisionObject<S>* obj, void* cdata, DistanceCallBack<S> callback, S& min_dist) const;
 
   static size_t selectOptimalAxis(

diff --git a/include/fcl/broadphase/broadphase_SaP-inl.h b/include/fcl/broadphase/broadphase_SaP-inl.h
@@ -31,7 +31,7 @@
  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  *  POSSIBILITY OF SUCH DAMAGE.
- */ 
+ */
 
 /** @author Jia Pan */
 
@@ -45,7 +45,7 @@ namespace fcl
 
 //==============================================================================
 extern template
-class FCL_EXPORT SaPCollisionManager<double>;
+class FCL_EXTERN_TEMPLATE_API SaPCollisionManager<double>;
 
 //==============================================================================
 template <typename S>

diff --git a/include/fcl/broadphase/broadphase_SaP.h b/include/fcl/broadphase/broadphase_SaP.h
@@ -31,7 +31,7 @@
  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  *  POSSIBILITY OF SUCH DAMAGE.
- */ 
+ */
 
 /** @author Jia Pan */
 
@@ -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:
 
@@ -103,7 +103,7 @@ class FCL_EXPORT SaPCollisionManager : public BroadPhaseCollisionManager<S>
 
   /// @brief whether the manager is empty
   bool empty() const;
-  
+
   /// @brief the number of objects managed by the manager
   size_t size() const;
 
@@ -119,18 +119,18 @@ 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);
 
   void updateVelist();
 
   /// @brief End point list for x, y, z coordinates
   EndPoint* elist[3];
-  
+
   /// @brief vector version of elist, for acceleration
   std::vector<EndPoint*> velist[3];
 
@@ -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
@@ -31,7 +31,7 @@
  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  *  POSSIBILITY OF SUCH DAMAGE.
- */ 
+ */
 
 /** @author Jia Pan */
 
@@ -46,7 +46,7 @@ namespace fcl {
 
 //==============================================================================
 extern template
-class FCL_EXPORT NaiveCollisionManager<double>;
+class FCL_EXTERN_TEMPLATE_API NaiveCollisionManager<double>;
 
 //==============================================================================
 template <typename S>

diff --git a/include/fcl/broadphase/broadphase_bruteforce.h b/include/fcl/broadphase/broadphase_bruteforce.h
@@ -31,7 +31,7 @@
  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  *  POSSIBILITY OF SUCH DAMAGE.
- */ 
+ */
 
 /** @author Jia Pan */
 
@@ -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();
@@ -92,7 +92,7 @@ class FCL_EXPORT NaiveCollisionManager : public BroadPhaseCollisionManager<S>
 
   /// @brief whether the manager is empty
   bool empty() const;
-  
+
   /// @brief the number of objects managed by the manager
   size_t size() const;
 

diff --git a/include/fcl/broadphase/broadphase_collision_manager-inl.h b/include/fcl/broadphase/broadphase_collision_manager-inl.h
@@ -46,7 +46,7 @@ namespace fcl {
 
 //==============================================================================
 extern template
-class FCL_EXPORT BroadPhaseCollisionManager<double>;
+class FCL_EXTERN_TEMPLATE_API BroadPhaseCollisionManager<double>;
 
 //==============================================================================
 template <typename S>

diff --git a/include/fcl/broadphase/broadphase_collision_manager.h b/include/fcl/broadphase/broadphase_collision_manager.h
@@ -31,7 +31,7 @@
  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  *  POSSIBILITY OF SUCH DAMAGE.
- */ 
+ */
 
 /** @author Jia Pan */
 
@@ -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();
@@ -117,7 +117,7 @@ class FCL_EXPORT BroadPhaseCollisionManager
 
   /// @brief whether the manager is empty
   virtual bool empty() const = 0;
-  
+
   /// @brief the number of objects managed by the manager
   virtual size_t size() const = 0;
 

diff --git a/include/fcl/broadphase/broadphase_continuous_collision_manager-inl.h b/include/fcl/broadphase/broadphase_continuous_collision_manager-inl.h
@@ -46,7 +46,7 @@ namespace fcl {
 
 //==============================================================================
 extern template
-class FCL_EXPORT BroadPhaseContinuousCollisionManager<double>;
+class FCL_EXTERN_TEMPLATE_API BroadPhaseContinuousCollisionManager<double>;
 
 //==============================================================================
 template <typename S>

diff --git a/include/fcl/broadphase/broadphase_continuous_collision_manager.h b/include/fcl/broadphase/broadphase_continuous_collision_manager.h
@@ -31,7 +31,7 @@
  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  *  POSSIBILITY OF SUCH DAMAGE.
- */ 
+ */
 
 /** @author Jia Pan */
 
@@ -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();
@@ -117,7 +117,7 @@ class FCL_EXPORT BroadPhaseContinuousCollisionManager
 
   /// @brief whether the manager is empty
   virtual bool empty() const = 0;
-  
+
   /// @brief the number of objects managed by the manager
   virtual size_t size() const = 0;
 };