Update.20190526

.appveyor.yml

@@ -57,4 +57,4 @@ build:
   parallel: true
 
 test_script:
-  - cmd: ctest -C %Configuration%
+  - cmd: ctest -C %Configuration% --output-on-failure

.clang-format

@@ -0,0 +1,40 @@
+# -*- mode: yaml -*-
+# vi: set ft=yaml :
+
+# Copyright (c) 2018, Toyota Research Institute, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice, this
+#   list of conditions and the following disclaimer.
+#
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+#
+# * Neither the name of the copyright holder nor the names of its
+#   contributors may be used to endorse or promote products derived from
+#   this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT 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: Jamie Snape, Kitware, Inc.
+
+---
+BasedOnStyle: Google
+---
+Language: Cpp
+DerivePointerAlignment: false
+PointerAlignment: Left

.clang-tidy

@@ -0,0 +1,36 @@
+# -*- mode: yaml -*-
+# vi: set ft=yaml :
+
+# Copyright (c) 2018, Toyota Research Institute, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice, this
+#   list of conditions and the following disclaimer.
+#
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+#
+# * Neither the name of the copyright holder nor the names of its
+#   contributors may be used to endorse or promote products derived from
+#   this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT 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: Jamie Snape, Kitware, Inc.
+
+---
+Checks: 'clang-analyzer-*,clang-diagnostic-*,cppcoreguidelines-*,google-*,modernize-*,performance-*,readability-*'

.editorconfig

@@ -0,0 +1,44 @@
+# Copyright (c) 2018, Toyota Research Institute, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice, this
+#   list of conditions and the following disclaimer.
+#
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+#
+# * Neither the name of the copyright holder nor the names of its
+#   contributors may be used to endorse or promote products derived from
+#   this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT 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: Jamie Snape, Kitware, Inc.
+
+root = true
+
+[*]
+charset = utf
+end_of_line = lf
+indent_size = 2
+indent_style = space
+insert_final_newline = true
+max_line_length = 80
+trim_trailing_whitespace = true
+
+[*.md]
+trim_trailing_whitespace = false

.gitignore

@@ -1 +1,34 @@
-doc/doxygen
+# Copyright (c) 2016, Open Source Robotics Foundation.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice, this
+#   list of conditions and the following disclaimer.
+#
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+#
+# * Neither the name of the copyright holder nor the names of its
+#   contributors may be used to endorse or promote products derived from
+#   this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT 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: Jeongseok Lee <jslee02@gmail.com>
+
+/build
+/build-*
+/doc/doxygen

.travis.yml

@@ -20,11 +20,11 @@ matrix:
       compiler: clang
       env: BUILD_TYPE=Release COVERALLS=OFF
     - os: osx
-      osx_image: xcode7.3
+      osx_image: xcode9
       compiler: clang
       env: BUILD_TYPE=Debug COVERALLS=OFF
     - os: osx
-      osx_image: xcode7.3
+      osx_image: xcode9
       compiler: clang
       env: BUILD_TYPE=Release COVERALLS=OFF
 
@@ -46,13 +46,8 @@ script:
   - if [ $COVERALLS = ON ] && [ "$TRAVIS_OS_NAME" = "linux" ]; then make coveralls; fi
 
   # Run unit tests
-  - make test
+  - ctest -j4 --output-on-failure
 
   # Make sure we can install and uninstall with no issues
   - sudo make -j4 install
   - sudo make -j4 uninstall
-
-after_failure: 
-  - cat Testing/Temporary/LastTest.log
-  - cat Testing/Temporary/LastTestsFailed.log
-

CHANGELOG.md

@@ -11,11 +11,24 @@
 * Math
 
   * Switched to Eigen for math operations: [#96](https://github.com/flexible-collision-library/fcl/issues/96), [#150](https://github.com/flexible-collision-library/fcl/pull/150)
+  * fcl::Transform defined to be an Isometry to facilitate inverses [#318](https://github.com/flexible-collision-library/fcl/pull/318)
+
+* Geometry
+
+  * Simplified Convex class, deprecating old constructor in favor of
+    simpler, documented constructor:
+     [#325](https://github.com/flexible-collision-library/fcl/pull/325),
+     [#338](https://github.com/flexible-collision-library/fcl/pull/338)
 
 * Broadphase
 
   * Fixed redundant pair checking of SpatialHashingCollisionManager: [#156](https://github.com/flexible-collision-library/fcl/pull/156)
 
+* Narrowphase
+
+  * Add custom sphere-box collision and distance algorithms for both solvers: [#316](https://github.com/flexible-collision-library/fcl/pull/316)
+  * Add custom sphere-cylinder collision and distance algorithms for both solvers: [#321](https://github.com/flexible-collision-library/fcl/pull/321)
+
 * Distance
 
   * Added distance request option for computing exact negative distance: [#172](https://github.com/flexible-collision-library/fcl/pull/172) 
@@ -26,6 +39,7 @@
   * Added CMake targets for generating API documentation: [#174](https://github.com/flexible-collision-library/fcl/pull/174)
   * Enabled build with SSE option by default: [#159](https://github.com/flexible-collision-library/fcl/pull/159)
   * Added missing copyright headers:  [#149](https://github.com/flexible-collision-library/fcl/pull/149)
+  * Added test utility for performing equality between Eigen matrix-types (`CompareMatrices` in `test/eign_matrix_compare.h`): [#316](https://github.com/flexible-collision-library/fcl/pull/316)
 
 ### FCL 0.5.0 (2016-07-19)
 

CMakeLists.txt

@@ -1,26 +1,54 @@
+# -*- mode: cmake -*-
+# vi: set ft=cmake :
+
+# Copyright (c) 2012, Willow Garage, Inc.
+# Copyright (c) 2016, Toyota Research Institute, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# * Redistributions of source code must retain the above copyright notice, this
+#   list of conditions and the following disclaimer.
+#
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+#
+# * Neither the name of the copyright holder nor the names of its
+#   contributors may be used to endorse or promote products derived from
+#   this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT 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.
+
 if(APPLE)
-  cmake_minimum_required(VERSION 3.0.00)
+  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()
 
-# Set the CMAKE_CXX_COMPILER_ID variable to AppleClang instead of Clang.
-# AppleClang and Clang have different version number. This was introduced in
-# CMake 3.0.
+project(fcl CXX)
+
+# Compiler ID for Apple Clang is now AppleClang.
 if(POLICY CMP0025)
   cmake_policy(SET CMP0025 NEW)
 endif()
 
-# Use MACOSX_RPATH by default on OS X. This was added in CMake 2.8.12 and
-# became default in CMake 3.0. Explicitly setting this policy is necessary to
-# suppress a warning in CMake 3.0 and above.
-if(POLICY CMP0042)
-  cmake_policy(SET CMP0042 NEW)
-endif()
+include(CTest)
 
-project(fcl CXX C)
+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)
@@ -29,8 +57,12 @@ option(FCL_TREAT_WARNINGS_AS_ERRORS "Treat warnings as errors" OFF)
 option(FCL_HIDE_ALL_SYMBOLS "Hide all binary symbols" OFF)
 
 # set the default build type
-if (NOT MSVC AND NOT CMAKE_BUILD_TYPE)
-  set(CMAKE_BUILD_TYPE Release)
+if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
+  set(CMAKE_BUILD_TYPE Release CACHE STRING
+    "Choose the type of build; options are Debug Release RelWithDebInfo MinSizeRel."
+    FORCE)
+  set_property(CACHE CMAKE_BUILD_TYPE PROPERTY
+    STRINGS Debug Release RelWithDebInfo MinSizeRel)
 endif()
 
 # This shouldn't be necessary, but there has been trouble
@@ -41,11 +73,11 @@ endif (MSVC OR MSVC90 OR MSVC10)
 
 set(LIBRARY_OUTPUT_PATH ${PROJECT_BINARY_DIR}/lib)
 set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/CMakeModules")
+include(GenerateExportHeader)
+include(GNUInstallDirs)
 include(FCLMacros)
 include(CompilerSettings)
 include(FCLVersion)
-include(GNUInstallDirs)
-include(GenerateExportHeader)
 
 if(MSVC OR IS_ICPC)
   option(FCL_STATIC_LIBRARY "Whether the FCL library should be static rather than shared" ON)
@@ -272,9 +304,20 @@ configure_file(
 add_custom_target(uninstall
   "${CMAKE_COMMAND}" -P "${CMAKE_CURRENT_BINARY_DIR}/CMakeModules/cmake_uninstall.cmake")
 
-option(FCL_BUILD_TESTS "Build FCL tests" ON)
-if(FCL_BUILD_TESTS AND NOT FCL_HIDE_ALL_SYMBOLS)
-    enable_testing()
+set(FCL_BUILD_TESTS "DEFAULT" CACHE INTERNAL "Deprecated; use BUILD_TESTING instead.")
+
+if(NOT FCL_BUILD_TESTS STREQUAL "DEFAULT")
+  message(DEPRECATION "FCL_BUILD_TESTS is deprecated; use BUILD_TESTING instead.")
+  if(FCL_BUILD_TESTS)
+    set(_BUILD_TESTING ON)
+  else()
+    set(_BUILD_TESTING OFF)
+  endif()
+  set(BUILD_TESTING ${_BUILD_TESTING} CACHE BOOL "Build the testing tree." FORCE)
+  unset(_BUILD_TESTING)
+endif()
+
+if(BUILD_TESTING AND NOT FCL_HIDE_ALL_SYMBOLS)
     add_subdirectory(test)
 endif()