From 23397ee7bff609149981c09ec34dbaa5cb1ee9d7 Mon Sep 17 00:00:00 2001
From: Jeongseok Lee <jeongseok@meta.com>
Date: Thu, 2 Jan 2025 21:23:21 -0800
Subject: [PATCH 1/4] Use CMAKE_ARGS

---
 recipe/bld.bat | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/recipe/bld.bat b/recipe/bld.bat
index f60da89..1034428 100644
--- a/recipe/bld.bat
+++ b/recipe/bld.bat
@@ -1,13 +1,11 @@
 @echo on
 
 cmake %SRC_DIR% ^
+    %CMAKE_ARGS% ^
     -G Ninja ^
     -B build ^
     -DBUILD_TESTING=ON ^
     -DCMAKE_BUILD_TYPE=Release^
-    -DCMAKE_INSTALL_PREFIX=%LIBRARY_PREFIX% ^
-    -DCMAKE_PREFIX_PATH=%LIBRARY_PREFIX% ^
-    -DCMAKE_INSTALL_LIBDIR=lib ^
     -DFCL_STATIC_LIBRARY=ON
 
 if errorlevel 1 exit 1

From 7c50c05cb9d1bfd13d0740acdc4a0ef7723f544e Mon Sep 17 00:00:00 2001
From: Jeongseok Lee <jeongseok@meta.com>
Date: Thu, 2 Jan 2025 21:24:08 -0800
Subject: [PATCH 2/4] Increase build number

---
 recipe/meta.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/recipe/meta.yaml b/recipe/meta.yaml
index a0fd28c..47a5c2e 100644
--- a/recipe/meta.yaml
+++ b/recipe/meta.yaml
@@ -13,7 +13,7 @@ source:
     - 553.patch
 
 build:
-  number: 6
+  number: 7
   run_exports:
     - {{ pin_subpackage(name, max_pin='x.x') }}
 

From e70e27776cf507f8b2d96ced171c6f13457064db Mon Sep 17 00:00:00 2001
From: Jeongseok Lee <jeongseok@meta.com>
Date: Thu, 2 Jan 2025 22:03:41 -0800
Subject: [PATCH 3/4] Build shared libraries for Windows

---
 recipe/bld.bat                  |    4 +-
 recipe/enable-shared-libs.patch | 9235 +++++++++++++++++++++++++++++++
 recipe/meta.yaml                |    3 +-
 3 files changed, 9239 insertions(+), 3 deletions(-)
 create mode 100644 recipe/enable-shared-libs.patch

diff --git a/recipe/bld.bat b/recipe/bld.bat
index 1034428..b32be05 100644
--- a/recipe/bld.bat
+++ b/recipe/bld.bat
@@ -5,8 +5,8 @@ cmake %SRC_DIR% ^
     -G Ninja ^
     -B build ^
     -DBUILD_TESTING=ON ^
-    -DCMAKE_BUILD_TYPE=Release^
-    -DFCL_STATIC_LIBRARY=ON
+    -DCMAKE_BUILD_TYPE=Release ^
+    -DFCL_STATIC_LIBRARY=OFF
 
 if errorlevel 1 exit 1
 
diff --git a/recipe/enable-shared-libs.patch b/recipe/enable-shared-libs.patch
new file mode 100644
index 0000000..d6229f2
--- /dev/null
+++ b/recipe/enable-shared-libs.patch
@@ -0,0 +1,9235 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 6e5bbb8..ebca27a 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -378,7 +378,7 @@ if(NOT FCL_BUILD_TESTS STREQUAL "DEFAULT")
+   unset(_BUILD_TESTING)
+ endif()
+ 
+-if(BUILD_TESTING AND NOT FCL_HIDE_ALL_SYMBOLS)
++if(BUILD_TESTING)
+     add_subdirectory(test)
+ endif()
+ 
+diff --git a/include/fcl/broadphase/broadphase_SSaP-inl.h b/include/fcl/broadphase/broadphase_SSaP-inl.h
+index ad859ea..7943dd7 100644
+--- a/include/fcl/broadphase/broadphase_SSaP-inl.h
++++ b/include/fcl/broadphase/broadphase_SSaP-inl.h
+@@ -45,7 +45,7 @@ namespace fcl
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT SSaPCollisionManager<double>;
++class 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
+index b0cc0a9..185b9a0 100644
+--- 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
+index 7d201c7..e647472 100644
+--- a/include/fcl/broadphase/broadphase_SaP-inl.h
++++ b/include/fcl/broadphase/broadphase_SaP-inl.h
+@@ -45,7 +45,7 @@ namespace fcl
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT SaPCollisionManager<double>;
++class SaPCollisionManager<double>;
+ 
+ //==============================================================================
+ template <typename S>
+diff --git a/include/fcl/broadphase/broadphase_SaP.h b/include/fcl/broadphase/broadphase_SaP.h
+index 8a6b611..869e6a2 100644
+--- 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 @@ protected:
+   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 @@ public:
+ 
+ /// @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
+index 0c92ace..a0765a2 100644
+--- a/include/fcl/broadphase/broadphase_bruteforce-inl.h
++++ b/include/fcl/broadphase/broadphase_bruteforce-inl.h
+@@ -46,7 +46,7 @@ namespace fcl {
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT NaiveCollisionManager<double>;
++class NaiveCollisionManager<double>;
+ 
+ //==============================================================================
+ template <typename S>
+diff --git a/include/fcl/broadphase/broadphase_bruteforce.h b/include/fcl/broadphase/broadphase_bruteforce.h
+index f8ce6c5..2f9179d 100644
+--- 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
+index e69f86c..1b5204b 100644
+--- 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 BroadPhaseCollisionManager<double>;
+ 
+ //==============================================================================
+ template <typename S>
+diff --git a/include/fcl/broadphase/broadphase_collision_manager.h b/include/fcl/broadphase/broadphase_collision_manager.h
+index c372c7a..c60c215 100644
+--- 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
+index 05ff0f8..c5dee11 100644
+--- 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 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
+index d0a0435..7cfa215 100644
+--- 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();
+diff --git a/include/fcl/broadphase/broadphase_dynamic_AABB_tree-inl.h b/include/fcl/broadphase/broadphase_dynamic_AABB_tree-inl.h
+index 1a7341b..d48f854 100644
+--- a/include/fcl/broadphase/broadphase_dynamic_AABB_tree-inl.h
++++ b/include/fcl/broadphase/broadphase_dynamic_AABB_tree-inl.h
+@@ -50,7 +50,7 @@ namespace fcl {
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT DynamicAABBTreeCollisionManager<double>;
++class DynamicAABBTreeCollisionManager<double>;
+ 
+ namespace detail {
+ 
+@@ -59,7 +59,6 @@ namespace dynamic_AABB_tree {
+ #if FCL_HAVE_OCTOMAP
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ bool collisionRecurse_(
+     typename DynamicAABBTreeCollisionManager<S>::DynamicAABBNode* root1,
+     const OcTree<S>* tree2,
+@@ -171,7 +170,6 @@ bool collisionRecurse_(
+ 
+ //==============================================================================
+ template <typename S, typename Derived>
+-FCL_EXPORT
+ bool collisionRecurse_(
+     typename DynamicAABBTreeCollisionManager<S>::DynamicAABBNode* root1,
+     const OcTree<S>* tree2,
+@@ -278,7 +276,6 @@ bool collisionRecurse_(
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ bool distanceRecurse_(
+     typename DynamicAABBTreeCollisionManager<S>::DynamicAABBNode* root1,
+     const OcTree<S>* tree2,
+@@ -369,7 +366,6 @@ bool distanceRecurse_(
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ bool collisionRecurse(
+     typename DynamicAABBTreeCollisionManager<S>::DynamicAABBNode* root1,
+     const OcTree<S>* tree2,
+@@ -387,7 +383,6 @@ bool collisionRecurse(
+ 
+ //==============================================================================
+ template <typename S, typename Derived>
+-FCL_EXPORT
+ bool distanceRecurse_(
+     typename DynamicAABBTreeCollisionManager<S>::DynamicAABBNode* root1,
+     const OcTree<S>* tree2,
+@@ -477,7 +472,6 @@ bool distanceRecurse_(
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ bool distanceRecurse(typename DynamicAABBTreeCollisionManager<S>::DynamicAABBNode* root1, const OcTree<S>* tree2, const typename OcTree<S>::OcTreeNode* root2, const AABB<S>& root2_bv, const Transform3<S>& tf2, void* cdata, DistanceCallBack<S> callback, S& min_dist)
+ {
+   if(tf2.linear().isIdentity())
+@@ -490,7 +484,6 @@ bool distanceRecurse(typename DynamicAABBTreeCollisionManager<S>::DynamicAABBNod
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ bool collisionRecurse(
+     typename DynamicAABBTreeCollisionManager<S>::DynamicAABBNode* root1,
+     typename DynamicAABBTreeCollisionManager<S>::DynamicAABBNode* root2,
+@@ -524,7 +517,6 @@ bool collisionRecurse(
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ bool collisionRecurse(typename DynamicAABBTreeCollisionManager<S>::DynamicAABBNode* root, CollisionObject<S>* query, void* cdata, CollisionCallBack<S> callback)
+ {
+   if(root->isLeaf())
+@@ -548,7 +540,6 @@ bool collisionRecurse(typename DynamicAABBTreeCollisionManager<S>::DynamicAABBNo
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ bool selfCollisionRecurse(typename DynamicAABBTreeCollisionManager<S>::DynamicAABBNode* root, void* cdata, CollisionCallBack<S> callback)
+ {
+   if(root->isLeaf()) return false;
+@@ -567,7 +558,6 @@ bool selfCollisionRecurse(typename DynamicAABBTreeCollisionManager<S>::DynamicAA
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ bool distanceRecurse(
+     typename DynamicAABBTreeCollisionManager<S>::DynamicAABBNode* root1,
+     typename DynamicAABBTreeCollisionManager<S>::DynamicAABBNode* root2,
+@@ -656,7 +646,6 @@ bool distanceRecurse(
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ bool distanceRecurse(typename DynamicAABBTreeCollisionManager<S>::DynamicAABBNode* root, CollisionObject<S>* query, void* cdata, DistanceCallBack<S> callback, S& min_dist)
+ {
+   if(root->isLeaf())
+@@ -702,7 +691,6 @@ bool distanceRecurse(typename DynamicAABBTreeCollisionManager<S>::DynamicAABBNod
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ bool selfDistanceRecurse(typename DynamicAABBTreeCollisionManager<S>::DynamicAABBNode* root, void* cdata, DistanceCallBack<S> callback, S& min_dist)
+ {
+   if(root->isLeaf()) return false;
+@@ -725,7 +713,6 @@ bool selfDistanceRecurse(typename DynamicAABBTreeCollisionManager<S>::DynamicAAB
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ DynamicAABBTreeCollisionManager<S>::DynamicAABBTreeCollisionManager()
+   : tree_topdown_balance_threshold(dtree.bu_threshold),
+     tree_topdown_level(dtree.topdown_level)
+@@ -744,7 +731,6 @@ DynamicAABBTreeCollisionManager<S>::DynamicAABBTreeCollisionManager()
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void DynamicAABBTreeCollisionManager<S>::registerObjects(
+     const std::vector<CollisionObject<S>*>& other_objs)
+ {
+@@ -777,7 +763,6 @@ void DynamicAABBTreeCollisionManager<S>::registerObjects(
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void DynamicAABBTreeCollisionManager<S>::registerObject(CollisionObject<S>* obj)
+ {
+   DynamicAABBNode* node = dtree.insert(obj->getAABB(), obj);
+@@ -786,7 +771,6 @@ void DynamicAABBTreeCollisionManager<S>::registerObject(CollisionObject<S>* obj)
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void DynamicAABBTreeCollisionManager<S>::unregisterObject(CollisionObject<S>* obj)
+ {
+   DynamicAABBNode* node = table[obj];
+@@ -796,7 +780,6 @@ void DynamicAABBTreeCollisionManager<S>::unregisterObject(CollisionObject<S>* ob
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void DynamicAABBTreeCollisionManager<S>::setup()
+ {
+   if(!setup_)
+@@ -822,7 +805,6 @@ void DynamicAABBTreeCollisionManager<S>::setup()
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void DynamicAABBTreeCollisionManager<S>::update()
+ {
+   for(auto it = table.cbegin(); it != table.cend(); ++it)
+@@ -840,7 +822,6 @@ void DynamicAABBTreeCollisionManager<S>::update()
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void DynamicAABBTreeCollisionManager<S>::update_(CollisionObject<S>* updated_obj)
+ {
+   const auto it = table.find(updated_obj);
+@@ -855,7 +836,6 @@ void DynamicAABBTreeCollisionManager<S>::update_(CollisionObject<S>* updated_obj
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void DynamicAABBTreeCollisionManager<S>::update(CollisionObject<S>* updated_obj)
+ {
+   update_(updated_obj);
+@@ -864,7 +844,6 @@ void DynamicAABBTreeCollisionManager<S>::update(CollisionObject<S>* updated_obj)
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void DynamicAABBTreeCollisionManager<S>::update(const std::vector<CollisionObject<S>*>& updated_objs)
+ {
+   for(size_t i = 0, size = updated_objs.size(); i < size; ++i)
+@@ -874,7 +853,6 @@ void DynamicAABBTreeCollisionManager<S>::update(const std::vector<CollisionObjec
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void DynamicAABBTreeCollisionManager<S>::clear()
+ {
+   dtree.clear();
+@@ -883,7 +861,6 @@ void DynamicAABBTreeCollisionManager<S>::clear()
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void DynamicAABBTreeCollisionManager<S>::getObjects(std::vector<CollisionObject<S>*>& objs) const
+ {
+   objs.resize(this->size());
+@@ -892,7 +869,6 @@ void DynamicAABBTreeCollisionManager<S>::getObjects(std::vector<CollisionObject<
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void DynamicAABBTreeCollisionManager<S>::collide(CollisionObject<S>* obj, void* cdata, CollisionCallBack<S> callback) const
+ {
+   if(size() == 0) return;
+@@ -918,7 +894,6 @@ void DynamicAABBTreeCollisionManager<S>::collide(CollisionObject<S>* obj, void*
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void DynamicAABBTreeCollisionManager<S>::distance(CollisionObject<S>* obj, void* cdata, DistanceCallBack<S> callback) const
+ {
+   if(size() == 0) return;
+@@ -945,7 +920,6 @@ void DynamicAABBTreeCollisionManager<S>::distance(CollisionObject<S>* obj, void*
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void DynamicAABBTreeCollisionManager<S>::collide(void* cdata, CollisionCallBack<S> callback) const
+ {
+   if(size() == 0) return;
+@@ -954,7 +928,6 @@ void DynamicAABBTreeCollisionManager<S>::collide(void* cdata, CollisionCallBack<
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void DynamicAABBTreeCollisionManager<S>::distance(void* cdata, DistanceCallBack<S> callback) const
+ {
+   if(size() == 0) return;
+@@ -964,7 +937,6 @@ void DynamicAABBTreeCollisionManager<S>::distance(void* cdata, DistanceCallBack<
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void DynamicAABBTreeCollisionManager<S>::collide(BroadPhaseCollisionManager<S>* other_manager_, void* cdata, CollisionCallBack<S> callback) const
+ {
+   DynamicAABBTreeCollisionManager* other_manager = static_cast<DynamicAABBTreeCollisionManager*>(other_manager_);
+@@ -974,7 +946,6 @@ void DynamicAABBTreeCollisionManager<S>::collide(BroadPhaseCollisionManager<S>*
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void DynamicAABBTreeCollisionManager<S>::distance(BroadPhaseCollisionManager<S>* other_manager_, void* cdata, DistanceCallBack<S> callback) const
+ {
+   DynamicAABBTreeCollisionManager* other_manager = static_cast<DynamicAABBTreeCollisionManager*>(other_manager_);
+@@ -985,7 +956,6 @@ void DynamicAABBTreeCollisionManager<S>::distance(BroadPhaseCollisionManager<S>*
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ bool DynamicAABBTreeCollisionManager<S>::empty() const
+ {
+   return dtree.empty();
+@@ -993,7 +963,6 @@ bool DynamicAABBTreeCollisionManager<S>::empty() const
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ size_t DynamicAABBTreeCollisionManager<S>::size() const
+ {
+   return dtree.size();
+@@ -1001,7 +970,6 @@ size_t DynamicAABBTreeCollisionManager<S>::size() const
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ const detail::HierarchyTree<AABB<S>>&
+ DynamicAABBTreeCollisionManager<S>::getTree() const
+ {
+diff --git a/include/fcl/broadphase/broadphase_dynamic_AABB_tree.h b/include/fcl/broadphase/broadphase_dynamic_AABB_tree.h
+index 7ee6a33..bfe0ef6 100644
+--- a/include/fcl/broadphase/broadphase_dynamic_AABB_tree.h
++++ b/include/fcl/broadphase/broadphase_dynamic_AABB_tree.h
+@@ -51,7 +51,7 @@ namespace fcl
+ {
+ 
+ template <typename S>
+-class FCL_EXPORT DynamicAABBTreeCollisionManager : public BroadPhaseCollisionManager<S>
++class DynamicAABBTreeCollisionManager : public BroadPhaseCollisionManager<S>
+ {
+ public:
+ 
+diff --git a/include/fcl/broadphase/broadphase_dynamic_AABB_tree_array-inl.h b/include/fcl/broadphase/broadphase_dynamic_AABB_tree_array-inl.h
+index 3cec23c..e844a02 100644
+--- a/include/fcl/broadphase/broadphase_dynamic_AABB_tree_array-inl.h
++++ b/include/fcl/broadphase/broadphase_dynamic_AABB_tree_array-inl.h
+@@ -49,7 +49,7 @@ namespace fcl
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT DynamicAABBTreeCollisionManager_Array<double>;
++class DynamicAABBTreeCollisionManager_Array<double>;
+ 
+ namespace detail
+ {
+@@ -61,7 +61,6 @@ namespace dynamic_AABB_tree_array
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ bool collisionRecurse_(
+     typename DynamicAABBTreeCollisionManager_Array<S>::DynamicAABBNode* nodes1,
+     size_t root1_id,
+@@ -175,7 +174,6 @@ bool collisionRecurse_(
+ 
+ //==============================================================================
+ template <typename S, typename Derived>
+-FCL_EXPORT
+ bool collisionRecurse_(
+     typename DynamicAABBTreeCollisionManager_Array<S>::DynamicAABBNode* nodes1,
+     size_t root1_id,
+@@ -284,7 +282,6 @@ bool collisionRecurse_(
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ bool distanceRecurse_(typename DynamicAABBTreeCollisionManager_Array<S>::DynamicAABBNode* nodes1, size_t root1_id, const OcTree<S>* tree2, const typename OcTree<S>::OcTreeNode* root2, const AABB<S>& root2_bv, const Transform3<S>& tf2, void* cdata, DistanceCallBack<S> callback, S& min_dist)
+ {
+   typename DynamicAABBTreeCollisionManager_Array<S>::DynamicAABBNode* root1 = nodes1 + root1_id;
+@@ -368,7 +365,6 @@ bool distanceRecurse_(typename DynamicAABBTreeCollisionManager_Array<S>::Dynamic
+ 
+ //==============================================================================
+ template <typename S, typename Derived>
+-FCL_EXPORT
+ bool distanceRecurse_(
+     typename DynamicAABBTreeCollisionManager_Array<S>::DynamicAABBNode* nodes1,
+     size_t root1_id,
+@@ -464,7 +460,6 @@ bool distanceRecurse_(
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ bool collisionRecurse(typename DynamicAABBTreeCollisionManager_Array<S>::DynamicAABBNode* nodes1, size_t root1_id,
+                       typename DynamicAABBTreeCollisionManager_Array<S>::DynamicAABBNode* nodes2, size_t root2_id,
+                       void* cdata, CollisionCallBack<S> callback)
+@@ -498,7 +493,6 @@ bool collisionRecurse(typename DynamicAABBTreeCollisionManager_Array<S>::Dynamic
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ bool collisionRecurse(typename DynamicAABBTreeCollisionManager_Array<S>::DynamicAABBNode* nodes, size_t root_id, CollisionObject<S>* query, void* cdata, CollisionCallBack<S> callback)
+ {
+   typename DynamicAABBTreeCollisionManager_Array<S>::DynamicAABBNode* root = nodes + root_id;
+@@ -523,7 +517,6 @@ bool collisionRecurse(typename DynamicAABBTreeCollisionManager_Array<S>::Dynamic
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ bool selfCollisionRecurse(typename DynamicAABBTreeCollisionManager_Array<S>::DynamicAABBNode* nodes, size_t root_id, void* cdata, CollisionCallBack<S> callback)
+ {
+   typename DynamicAABBTreeCollisionManager_Array<S>::DynamicAABBNode* root = nodes + root_id;
+@@ -543,7 +536,6 @@ bool selfCollisionRecurse(typename DynamicAABBTreeCollisionManager_Array<S>::Dyn
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ bool distanceRecurse(typename DynamicAABBTreeCollisionManager_Array<S>::DynamicAABBNode* nodes1, size_t root1_id,
+                      typename DynamicAABBTreeCollisionManager_Array<S>::DynamicAABBNode* nodes2, size_t root2_id,
+                      void* cdata, DistanceCallBack<S> callback, S& min_dist)
+@@ -631,7 +623,6 @@ bool distanceRecurse(typename DynamicAABBTreeCollisionManager_Array<S>::DynamicA
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ bool distanceRecurse(typename DynamicAABBTreeCollisionManager_Array<S>::DynamicAABBNode* nodes, size_t root_id, CollisionObject<S>* query, void* cdata, DistanceCallBack<S> callback, S& min_dist)
+ {
+   typename DynamicAABBTreeCollisionManager_Array<S>::DynamicAABBNode* root = nodes + root_id;
+@@ -678,7 +669,6 @@ bool distanceRecurse(typename DynamicAABBTreeCollisionManager_Array<S>::DynamicA
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ bool selfDistanceRecurse(typename DynamicAABBTreeCollisionManager_Array<S>::DynamicAABBNode* nodes, size_t root_id, void* cdata, DistanceCallBack<S> callback, S& min_dist)
+ {
+   typename DynamicAABBTreeCollisionManager_Array<S>::DynamicAABBNode* root = nodes + root_id;
+@@ -701,7 +691,6 @@ bool selfDistanceRecurse(typename DynamicAABBTreeCollisionManager_Array<S>::Dyna
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ bool collisionRecurse(typename DynamicAABBTreeCollisionManager_Array<S>::DynamicAABBNode* nodes1, size_t root1_id, const OcTree<S>* tree2, const typename OcTree<S>::OcTreeNode* root2, const AABB<S>& root2_bv, const Transform3<S>& tf2, void* cdata, CollisionCallBack<S> callback)
+ {
+   if(tf2.linear().isIdentity())
+@@ -712,7 +701,6 @@ bool collisionRecurse(typename DynamicAABBTreeCollisionManager_Array<S>::Dynamic
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ bool distanceRecurse(typename DynamicAABBTreeCollisionManager_Array<S>::DynamicAABBNode* nodes1, size_t root1_id, const OcTree<S>* tree2, const typename OcTree<S>::OcTreeNode* root2, const AABB<S>& root2_bv, const Transform3<S>& tf2, void* cdata, DistanceCallBack<S> callback, S& min_dist)
+ {
+   if(tf2.linear().isIdentity())
+@@ -729,7 +717,6 @@ bool distanceRecurse(typename DynamicAABBTreeCollisionManager_Array<S>::DynamicA
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ DynamicAABBTreeCollisionManager_Array<S>::DynamicAABBTreeCollisionManager_Array()
+   : tree_topdown_balance_threshold(dtree.bu_threshold),
+     tree_topdown_level(dtree.topdown_level)
+@@ -748,7 +735,6 @@ DynamicAABBTreeCollisionManager_Array<S>::DynamicAABBTreeCollisionManager_Array(
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void DynamicAABBTreeCollisionManager_Array<S>::registerObjects(
+     const std::vector<CollisionObject<S>*>& other_objs)
+ {
+@@ -781,7 +767,6 @@ void DynamicAABBTreeCollisionManager_Array<S>::registerObjects(
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void DynamicAABBTreeCollisionManager_Array<S>::registerObject(CollisionObject<S>* obj)
+ {
+   size_t node = dtree.insert(obj->getAABB(), obj);
+@@ -790,7 +775,6 @@ void DynamicAABBTreeCollisionManager_Array<S>::registerObject(CollisionObject<S>
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void DynamicAABBTreeCollisionManager_Array<S>::unregisterObject(CollisionObject<S>* obj)
+ {
+   size_t node = table[obj];
+@@ -800,7 +784,6 @@ void DynamicAABBTreeCollisionManager_Array<S>::unregisterObject(CollisionObject<
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void DynamicAABBTreeCollisionManager_Array<S>::setup()
+ {
+   if(!setup_)
+@@ -826,7 +809,6 @@ void DynamicAABBTreeCollisionManager_Array<S>::setup()
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void DynamicAABBTreeCollisionManager_Array<S>::update()
+ {
+   for(auto it = table.cbegin(), end = table.cend(); it != end; ++it)
+@@ -844,7 +826,6 @@ void DynamicAABBTreeCollisionManager_Array<S>::update()
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void DynamicAABBTreeCollisionManager_Array<S>::update_(CollisionObject<S>* updated_obj)
+ {
+   const auto it = table.find(updated_obj);
+@@ -859,7 +840,6 @@ void DynamicAABBTreeCollisionManager_Array<S>::update_(CollisionObject<S>* updat
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void DynamicAABBTreeCollisionManager_Array<S>::update(CollisionObject<S>* updated_obj)
+ {
+   update_(updated_obj);
+@@ -868,7 +848,6 @@ void DynamicAABBTreeCollisionManager_Array<S>::update(CollisionObject<S>* update
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void DynamicAABBTreeCollisionManager_Array<S>::update(const std::vector<CollisionObject<S>*>& updated_objs)
+ {
+   for(size_t i = 0, size = updated_objs.size(); i < size; ++i)
+@@ -878,7 +857,6 @@ void DynamicAABBTreeCollisionManager_Array<S>::update(const std::vector<Collisio
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void DynamicAABBTreeCollisionManager_Array<S>::clear()
+ {
+   dtree.clear();
+@@ -887,7 +865,6 @@ void DynamicAABBTreeCollisionManager_Array<S>::clear()
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void DynamicAABBTreeCollisionManager_Array<S>::getObjects(std::vector<CollisionObject<S>*>& objs) const
+ {
+   objs.resize(this->size());
+@@ -896,7 +873,6 @@ void DynamicAABBTreeCollisionManager_Array<S>::getObjects(std::vector<CollisionO
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void DynamicAABBTreeCollisionManager_Array<S>::collide(CollisionObject<S>* obj, void* cdata, CollisionCallBack<S> callback) const
+ {
+   if(size() == 0) return;
+@@ -922,7 +898,6 @@ void DynamicAABBTreeCollisionManager_Array<S>::collide(CollisionObject<S>* obj,
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void DynamicAABBTreeCollisionManager_Array<S>::distance(CollisionObject<S>* obj, void* cdata, DistanceCallBack<S> callback) const
+ {
+   if(size() == 0) return;
+@@ -949,7 +924,6 @@ void DynamicAABBTreeCollisionManager_Array<S>::distance(CollisionObject<S>* obj,
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void DynamicAABBTreeCollisionManager_Array<S>::collide(void* cdata, CollisionCallBack<S> callback) const
+ {
+   if(size() == 0) return;
+@@ -958,7 +932,6 @@ void DynamicAABBTreeCollisionManager_Array<S>::collide(void* cdata, CollisionCal
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void DynamicAABBTreeCollisionManager_Array<S>::distance(void* cdata, DistanceCallBack<S> callback) const
+ {
+   if(size() == 0) return;
+@@ -968,7 +941,6 @@ void DynamicAABBTreeCollisionManager_Array<S>::distance(void* cdata, DistanceCal
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void DynamicAABBTreeCollisionManager_Array<S>::collide(BroadPhaseCollisionManager<S>* other_manager_, void* cdata, CollisionCallBack<S> callback) const
+ {
+   DynamicAABBTreeCollisionManager_Array* other_manager = static_cast<DynamicAABBTreeCollisionManager_Array*>(other_manager_);
+@@ -978,7 +950,6 @@ void DynamicAABBTreeCollisionManager_Array<S>::collide(BroadPhaseCollisionManage
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void DynamicAABBTreeCollisionManager_Array<S>::distance(BroadPhaseCollisionManager<S>* other_manager_, void* cdata, DistanceCallBack<S> callback) const
+ {
+   DynamicAABBTreeCollisionManager_Array* other_manager = static_cast<DynamicAABBTreeCollisionManager_Array*>(other_manager_);
+@@ -989,7 +960,6 @@ void DynamicAABBTreeCollisionManager_Array<S>::distance(BroadPhaseCollisionManag
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ bool DynamicAABBTreeCollisionManager_Array<S>::empty() const
+ {
+   return dtree.empty();
+@@ -997,7 +967,6 @@ bool DynamicAABBTreeCollisionManager_Array<S>::empty() const
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ size_t DynamicAABBTreeCollisionManager_Array<S>::size() const
+ {
+   return dtree.size();
+@@ -1005,7 +974,6 @@ size_t DynamicAABBTreeCollisionManager_Array<S>::size() const
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ const detail::implementation_array::HierarchyTree<AABB<S>>&
+ DynamicAABBTreeCollisionManager_Array<S>::getTree() const
+ {
+diff --git a/include/fcl/broadphase/broadphase_dynamic_AABB_tree_array.h b/include/fcl/broadphase/broadphase_dynamic_AABB_tree_array.h
+index 3d535f8..df4421e 100644
+--- a/include/fcl/broadphase/broadphase_dynamic_AABB_tree_array.h
++++ b/include/fcl/broadphase/broadphase_dynamic_AABB_tree_array.h
+@@ -52,7 +52,7 @@ namespace fcl
+ {
+ 
+ template <typename S>
+-class FCL_EXPORT DynamicAABBTreeCollisionManager_Array : public BroadPhaseCollisionManager<S>
++class DynamicAABBTreeCollisionManager_Array : public BroadPhaseCollisionManager<S>
+ {
+ public:
+ 
+diff --git a/include/fcl/broadphase/broadphase_interval_tree-inl.h b/include/fcl/broadphase/broadphase_interval_tree-inl.h
+index dcc4f6d..6f978b3 100644
+--- a/include/fcl/broadphase/broadphase_interval_tree-inl.h
++++ b/include/fcl/broadphase/broadphase_interval_tree-inl.h
+@@ -45,7 +45,7 @@ namespace fcl
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT IntervalTreeCollisionManager<double>;
++class IntervalTreeCollisionManager<double>;
+ 
+ //==============================================================================
+ template <typename S>
+diff --git a/include/fcl/broadphase/broadphase_interval_tree.h b/include/fcl/broadphase/broadphase_interval_tree.h
+index 79c5467..8d28f21 100644
+--- a/include/fcl/broadphase/broadphase_interval_tree.h
++++ b/include/fcl/broadphase/broadphase_interval_tree.h
+@@ -48,7 +48,7 @@ namespace fcl
+ 
+ /// @brief Collision manager based on interval tree
+ template <typename S>
+-class FCL_EXPORT IntervalTreeCollisionManager : public BroadPhaseCollisionManager<S>
++class IntervalTreeCollisionManager : public BroadPhaseCollisionManager<S>
+ {
+ public:
+   IntervalTreeCollisionManager();
+@@ -147,7 +147,7 @@ using IntervalTreeCollisionManagerd = IntervalTreeCollisionManager<double>;
+ 
+ /// @brief SAP end point
+ template <typename S>
+-struct FCL_EXPORT IntervalTreeCollisionManager<S>::EndPoint
++struct IntervalTreeCollisionManager<S>::EndPoint
+ {
+   /// @brief object related with the end point
+   CollisionObject<S>* obj;
+@@ -163,7 +163,7 @@ struct FCL_EXPORT IntervalTreeCollisionManager<S>::EndPoint
+ 
+ /// @brief Extention interval tree's interval to SAP interval, adding more information
+ template <typename S>
+-struct FCL_EXPORT IntervalTreeCollisionManager<S>::SAPInterval : public detail::SimpleInterval<S>
++struct IntervalTreeCollisionManager<S>::SAPInterval : public detail::SimpleInterval<S>
+ {
+   CollisionObject<S>* obj;
+ 
+diff --git a/include/fcl/broadphase/broadphase_spatialhash-inl.h b/include/fcl/broadphase/broadphase_spatialhash-inl.h
+index 12551ce..725d489 100644
+--- a/include/fcl/broadphase/broadphase_spatialhash-inl.h
++++ b/include/fcl/broadphase/broadphase_spatialhash-inl.h
+@@ -45,7 +45,7 @@ namespace fcl
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT SpatialHashingCollisionManager<
++class SpatialHashingCollisionManager<
+     double,
+     detail::SimpleHashTable<
+         AABB<double>, CollisionObject<double>*, detail::SpatialHash<double>>>;
+diff --git a/include/fcl/broadphase/broadphase_spatialhash.h b/include/fcl/broadphase/broadphase_spatialhash.h
+index a21d041..96529b2 100644
+--- a/include/fcl/broadphase/broadphase_spatialhash.h
++++ b/include/fcl/broadphase/broadphase_spatialhash.h
+@@ -53,7 +53,7 @@ namespace fcl
+ template<typename S,
+          typename HashTable
+              = detail::SimpleHashTable<AABB<S>, CollisionObject<S>*, detail::SpatialHash<S>> >
+-class FCL_EXPORT SpatialHashingCollisionManager : public BroadPhaseCollisionManager<S>
++class SpatialHashingCollisionManager : public BroadPhaseCollisionManager<S>
+ {
+ public:
+   SpatialHashingCollisionManager(
+diff --git a/include/fcl/broadphase/detail/hierarchy_tree.h b/include/fcl/broadphase/detail/hierarchy_tree.h
+index 456314a..bdea6c9 100644
+--- a/include/fcl/broadphase/detail/hierarchy_tree.h
++++ b/include/fcl/broadphase/detail/hierarchy_tree.h
+@@ -55,7 +55,7 @@ namespace detail
+ 
+ /// @brief Class for hierarchy tree structure
+ template<typename BV>
+-class FCL_EXPORT HierarchyTree
++class HierarchyTree
+ {
+ public:
+ 
+diff --git a/include/fcl/broadphase/detail/hierarchy_tree_array.h b/include/fcl/broadphase/detail/hierarchy_tree_array.h
+index 85e80fe..8145a04 100644
+--- a/include/fcl/broadphase/detail/hierarchy_tree_array.h
++++ b/include/fcl/broadphase/detail/hierarchy_tree_array.h
+@@ -58,7 +58,7 @@ namespace implementation_array
+ 
+ /// @brief Class for hierarchy tree structure
+ template<typename BV>
+-class FCL_EXPORT HierarchyTree
++class HierarchyTree
+ {
+   using S = typename BV::S;
+   typedef NodeBase<BV> NodeType;
+diff --git a/include/fcl/broadphase/detail/interval_tree.h b/include/fcl/broadphase/detail/interval_tree.h
+index 6573520..cc4a714 100644
+--- a/include/fcl/broadphase/detail/interval_tree.h
++++ b/include/fcl/broadphase/detail/interval_tree.h
+@@ -51,7 +51,7 @@ namespace detail {
+ /// right branch in searching for intervals but possibly come back
+ /// and check the left branch as well.
+ template <typename S>
+-struct FCL_EXPORT it_recursion_node
++struct it_recursion_node
+ {
+ public:
+   IntervalTreeNode<S>* start_node;
+@@ -69,7 +69,7 @@ struct it_recursion_node<double>;
+ 
+ /// @brief Interval tree
+ template <typename S>
+-class FCL_EXPORT IntervalTree
++class IntervalTree
+ {
+ public:
+ 
+diff --git a/include/fcl/broadphase/detail/interval_tree_node-inl.h b/include/fcl/broadphase/detail/interval_tree_node-inl.h
+index 2badc04..6e2e487 100644
+--- a/include/fcl/broadphase/detail/interval_tree_node-inl.h
++++ b/include/fcl/broadphase/detail/interval_tree_node-inl.h
+@@ -47,7 +47,7 @@ namespace detail {
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT IntervalTreeNode<double>;
++class IntervalTreeNode<double>;
+ 
+ //==============================================================================
+ template <typename S>
+diff --git a/include/fcl/broadphase/detail/interval_tree_node.h b/include/fcl/broadphase/detail/interval_tree_node.h
+index 537adab..8e243b3 100644
+--- a/include/fcl/broadphase/detail/interval_tree_node.h
++++ b/include/fcl/broadphase/detail/interval_tree_node.h
+@@ -48,11 +48,11 @@ namespace detail
+ {
+ 
+ template <typename S>
+-class FCL_EXPORT IntervalTree;
++class IntervalTree;
+ 
+ /// @brief The node for interval tree
+ template <typename S>
+-class FCL_EXPORT IntervalTreeNode
++class IntervalTreeNode
+ {
+ public:
+ 
+diff --git a/include/fcl/broadphase/detail/morton-inl.h b/include/fcl/broadphase/detail/morton-inl.h
+index cb23207..af52838 100644
+--- a/include/fcl/broadphase/detail/morton-inl.h
++++ b/include/fcl/broadphase/detail/morton-inl.h
+@@ -49,14 +49,6 @@ namespace detail {
+ extern template
+ uint32 quantize(double x, uint32 n);
+ 
+-//==============================================================================
+-extern template
+-struct morton_functor<double, uint32>;
+-
+-//==============================================================================
+-extern template
+-struct morton_functor<double, uint64>;
+-
+ //==============================================================================
+ template <typename S>
+ uint32 quantize(S x, uint32 n)
+diff --git a/include/fcl/broadphase/detail/morton.h b/include/fcl/broadphase/detail/morton.h
+index 6b430c4..7a840e4 100644
+--- a/include/fcl/broadphase/detail/morton.h
++++ b/include/fcl/broadphase/detail/morton.h
+@@ -52,7 +52,6 @@ namespace detail
+ {
+ 
+ template <typename S>
+-FCL_EXPORT
+ uint32 quantize(S x, uint32 n);
+ 
+ /// @brief compute 30 bit morton code
+@@ -68,11 +67,11 @@ uint64 morton_code60(uint32 x, uint32 y, uint32 z);
+ /// a 30- or 60-bit code, respectively, and for `std::bitset<N>` where
+ /// N is the length of the code and must be a multiple of 3.
+ template<typename S, typename T>
+-struct FCL_EXPORT morton_functor {};
++struct morton_functor {};
+ 
+ /// @brief Functor to compute 30 bit morton code for a given AABB<S>
+ template<typename S>
+-struct FCL_EXPORT morton_functor<S, uint32>
++struct morton_functor<S, uint32>
+ {
+   morton_functor(const AABB<S>& bbox);
+ 
+@@ -89,7 +88,7 @@ using morton_functoru32d = morton_functor<double, uint32>;
+ 
+ /// @brief Functor to compute 60 bit morton code for a given AABB<S>
+ template<typename S>
+-struct FCL_EXPORT morton_functor<S, uint64>
++struct morton_functor<S, uint64>
+ {
+   morton_functor(const AABB<S>& bbox);
+ 
+@@ -107,7 +106,7 @@ using morton_functoru64d = morton_functor<double, uint64>;
+ /// @brief Functor to compute N bit morton code for a given AABB<S>
+ /// N must be a multiple of 3.
+ template<typename S, size_t N>
+-struct FCL_EXPORT morton_functor<S, std::bitset<N>>
++struct morton_functor<S, std::bitset<N>>
+ {
+   static_assert(N%3==0, "Number of bits must be a multiple of 3");
+ 
+diff --git a/include/fcl/broadphase/detail/simple_hash_table.h b/include/fcl/broadphase/detail/simple_hash_table.h
+index 2708d02..d45d3c9 100644
+--- a/include/fcl/broadphase/detail/simple_hash_table.h
++++ b/include/fcl/broadphase/detail/simple_hash_table.h
+@@ -52,7 +52,7 @@ namespace detail
+ /// @brief A simple hash table implemented as multiple buckets. HashFnc is any
+ /// extended hash function: HashFnc(key) = {index1, index2, ..., }
+ template<typename Key, typename Data, typename HashFnc>
+-class FCL_EXPORT SimpleHashTable
++class SimpleHashTable
+ {
+ protected:
+   typedef std::list<Data> Bin;
+diff --git a/include/fcl/broadphase/detail/simple_interval.h b/include/fcl/broadphase/detail/simple_interval.h
+index ee8cbca..1b85163 100644
+--- a/include/fcl/broadphase/detail/simple_interval.h
++++ b/include/fcl/broadphase/detail/simple_interval.h
+@@ -49,7 +49,7 @@ namespace detail
+ /// @brief Interval trees implemented using red-black-trees as described in
+ /// the book Introduction_To_Algorithms_ by Cormen, Leisserson, and Rivest.
+ template <typename S>
+-struct FCL_EXPORT SimpleInterval
++struct SimpleInterval
+ {
+ public:
+   virtual ~SimpleInterval();
+diff --git a/include/fcl/broadphase/detail/sparse_hash_table.h b/include/fcl/broadphase/detail/sparse_hash_table.h
+index 8f1a133..f2d4f0f 100644
+--- a/include/fcl/broadphase/detail/sparse_hash_table.h
++++ b/include/fcl/broadphase/detail/sparse_hash_table.h
+@@ -51,12 +51,12 @@ namespace detail
+ {
+ 
+ template<typename U, typename V>
+-class FCL_EXPORT unordered_map_hash_table : public std::unordered_map<U, V> {};
++class unordered_map_hash_table : public std::unordered_map<U, V> {};
+ 
+ /// @brief A hash table implemented using unordered_map
+ template <typename Key, typename Data, typename HashFnc,
+           template<typename, typename> class TableT = unordered_map_hash_table>
+-class FCL_EXPORT SparseHashTable
++class SparseHashTable
+ {
+ protected:
+   HashFnc h_;
+diff --git a/include/fcl/broadphase/detail/spatial_hash.h b/include/fcl/broadphase/detail/spatial_hash.h
+index b3f1cdd..ebb25a5 100644
+--- a/include/fcl/broadphase/detail/spatial_hash.h
++++ b/include/fcl/broadphase/detail/spatial_hash.h
+@@ -48,7 +48,7 @@ namespace detail
+ 
+ /// @brief Spatial hash function: hash an AABB to a set of integer values
+ template <typename S_>
+-struct FCL_EXPORT SpatialHash
++struct SpatialHash
+ {
+   using S = S_;
+ 
+diff --git a/include/fcl/common/detail/profiler.h b/include/fcl/common/detail/profiler.h
+index 76e3675..108e658 100644
+--- a/include/fcl/common/detail/profiler.h
++++ b/include/fcl/common/detail/profiler.h
+@@ -68,13 +68,13 @@ public:
+ 
+   /// @brief This instance will call Profiler::begin() when constructed and
+   /// Profiler::end() when it goes out of scope.
+-  class FCL_EXPORT ScopedBlock;
++  class ScopedBlock;
+ 
+   /// @brief This instance will call Profiler::start() when constructed and
+   /// Profiler::stop() when it goes out of scope.
+   /// If the profiler was already started, this block's constructor and
+   /// destructor take no action
+-  class FCL_EXPORT ScopedStart;
++  class ScopedStart;
+ 
+   /// @brief Return an instance of the class
+   static Profiler& Instance(void);
+diff --git a/include/fcl/common/types.h b/include/fcl/common/types.h
+index 892e2b0..32af2b5 100644
+--- a/include/fcl/common/types.h
++++ b/include/fcl/common/types.h
+@@ -142,7 +142,7 @@ inline std::shared_ptr<_Tp> make_aligned_shared(_Args&&... __args)
+ // C++11 compatible version is available since Eigen 3.2.9 so we use this copy
+ // for Eigen (< 3.2.9).
+ template <class T>
+-class FCL_EXPORT aligned_allocator_cpp11 : public std::allocator<T>
++class aligned_allocator_cpp11 : public std::allocator<T>
+ {
+ public:
+   typedef std::size_t     size_type;
+diff --git a/include/fcl/geometry/bvh/BVH_model.h b/include/fcl/geometry/bvh/BVH_model.h
+index 294d521..bab7304 100644
+--- a/include/fcl/geometry/bvh/BVH_model.h
++++ b/include/fcl/geometry/bvh/BVH_model.h
+@@ -54,7 +54,7 @@ namespace fcl
+ 
+ /// @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)
+ template <typename BV>
+-class FCL_EXPORT BVHModel : public CollisionGeometry<typename BV::S>
++class BVHModel : public CollisionGeometry<typename BV::S>
+ {
+ public:
+ 
+diff --git a/include/fcl/geometry/bvh/BVH_utility-inl.h b/include/fcl/geometry/bvh/BVH_utility-inl.h
+index 2196ca4..a20a0f2 100644
+--- a/include/fcl/geometry/bvh/BVH_utility-inl.h
++++ b/include/fcl/geometry/bvh/BVH_utility-inl.h
+@@ -57,7 +57,6 @@ void BVHExpand(
+ 
+ //==============================================================================
+ template <typename S, typename BV>
+-FCL_EXPORT
+ void BVHExpand(BVHModel<BV>& model, const Variance3<S>* ucs, S r)
+ {
+   for(int i = 0; i < model.num_bvs; ++i)
+@@ -85,7 +84,6 @@ void BVHExpand(BVHModel<BV>& model, const Variance3<S>* ucs, S r)
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void BVHExpand(
+     BVHModel<OBB<S>>& model,
+     const Variance3<S>* ucs,
+@@ -129,7 +127,6 @@ void BVHExpand(
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void BVHExpand(
+     BVHModel<RSS<S>>& model,
+     const Variance3<S>* ucs,
+diff --git a/include/fcl/geometry/bvh/BVH_utility.h b/include/fcl/geometry/bvh/BVH_utility.h
+index 68e3974..a086222 100644
+--- a/include/fcl/geometry/bvh/BVH_utility.h
++++ b/include/fcl/geometry/bvh/BVH_utility.h
+@@ -47,20 +47,17 @@ namespace fcl
+ /// @brief Expand the BVH bounding boxes according to the variance matrix
+ /// corresponding to the data stored within each BV node
+ template <typename S, typename BV>
+-FCL_EXPORT
+ void BVHExpand(BVHModel<BV>& model, const Variance3<S>* ucs, S r);
+ 
+ /// @brief Expand the BVH bounding boxes according to the corresponding variance
+ /// information, for OBB
+ template <typename S>
+-FCL_EXPORT
+ void BVHExpand(
+     BVHModel<OBB<S>>& model, const Variance3<S>* ucs, S r = 1.0);
+ 
+ /// @brief Expand the BVH bounding boxes according to the corresponding variance
+ /// information, for RSS
+ template <typename S>
+-FCL_EXPORT
+ void BVHExpand(
+     BVHModel<RSS<S>>& model, const Variance3<S>* ucs, S r = 1.0);
+ 
+diff --git a/include/fcl/geometry/bvh/BV_node.h b/include/fcl/geometry/bvh/BV_node.h
+index 08dabbc..b87b9fd 100644
+--- a/include/fcl/geometry/bvh/BV_node.h
++++ b/include/fcl/geometry/bvh/BV_node.h
+@@ -49,7 +49,7 @@ namespace fcl
+ 
+ /// @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 FCL_EXPORT BVNode : public BVNodeBase
++struct BVNode : public BVNodeBase
+ {
+   using S = typename BV::S;
+ 
+diff --git a/include/fcl/geometry/bvh/detail/BV_fitter.h b/include/fcl/geometry/bvh/detail/BV_fitter.h
+index c78c523..c31e2b8 100644
+--- a/include/fcl/geometry/bvh/detail/BV_fitter.h
++++ b/include/fcl/geometry/bvh/detail/BV_fitter.h
+@@ -53,7 +53,7 @@ namespace detail
+ 
+ /// @brief The class for the default algorithm fitting a bounding volume to a set of points
+ template <typename BV>
+-class FCL_EXPORT BVFitter : public BVFitterBase<BV>
++class BVFitter : public BVFitterBase<BV>
+ {
+ public:
+ 
+diff --git a/include/fcl/geometry/bvh/detail/BV_fitter_base.h b/include/fcl/geometry/bvh/detail/BV_fitter_base.h
+index 3e10fbb..6bc1db1 100644
+--- a/include/fcl/geometry/bvh/detail/BV_fitter_base.h
++++ b/include/fcl/geometry/bvh/detail/BV_fitter_base.h
+@@ -52,7 +52,7 @@ namespace detail
+ 
+ /// @brief Interface for fitting a bv given the triangles or points inside it.
+ template <typename BV>
+-class FCL_EXPORT BVFitterBase
++class BVFitterBase
+ {
+ public:
+ 
+diff --git a/include/fcl/geometry/bvh/detail/BV_splitter.h b/include/fcl/geometry/bvh/detail/BV_splitter.h
+index 7480f77..b155610 100644
+--- a/include/fcl/geometry/bvh/detail/BV_splitter.h
++++ b/include/fcl/geometry/bvh/detail/BV_splitter.h
+@@ -62,7 +62,7 @@ enum SplitMethodType
+ 
+ /// @brief A class describing the split rule that splits each BV node
+ template <typename BV>
+-class FCL_EXPORT BVSplitter : public BVSplitterBase<BV>
++class BVSplitter : public BVSplitterBase<BV>
+ {
+ public:
+ 
+diff --git a/include/fcl/geometry/bvh/detail/BV_splitter_base.h b/include/fcl/geometry/bvh/detail/BV_splitter_base.h
+index 893c2be..595b794 100644
+--- a/include/fcl/geometry/bvh/detail/BV_splitter_base.h
++++ b/include/fcl/geometry/bvh/detail/BV_splitter_base.h
+@@ -53,7 +53,7 @@ namespace detail
+ 
+ /// @brief Base interface for BV splitting algorithm
+ template <typename BV>
+-class FCL_EXPORT BVSplitterBase
++class BVSplitterBase
+ {
+ public:
+ 
+diff --git a/include/fcl/geometry/collision_geometry-inl.h b/include/fcl/geometry/collision_geometry-inl.h
+index b569532..29bacab 100644
+--- a/include/fcl/geometry/collision_geometry-inl.h
++++ b/include/fcl/geometry/collision_geometry-inl.h
+@@ -45,7 +45,7 @@ namespace fcl
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT CollisionGeometry<double>;
++class CollisionGeometry<double>;
+ 
+ //==============================================================================
+ template <typename S>
+diff --git a/include/fcl/geometry/collision_geometry.h b/include/fcl/geometry/collision_geometry.h
+index 21fe849..09d34b8 100644
+--- a/include/fcl/geometry/collision_geometry.h
++++ b/include/fcl/geometry/collision_geometry.h
+@@ -55,7 +55,7 @@ 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
+ template <typename S>
+-class FCL_EXPORT CollisionGeometry
++class CollisionGeometry
+ {
+ public:
+   CollisionGeometry();
+diff --git a/include/fcl/geometry/octree/octree-inl.h b/include/fcl/geometry/octree/octree-inl.h
+index f50fe81..7835348 100644
+--- a/include/fcl/geometry/octree/octree-inl.h
++++ b/include/fcl/geometry/octree/octree-inl.h
+@@ -51,7 +51,7 @@ namespace fcl
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT OcTree<double>;
++class OcTree<double>;
+ 
+ //==============================================================================
+ extern template
+diff --git a/include/fcl/geometry/octree/octree.h b/include/fcl/geometry/octree/octree.h
+index 4264148..d0a6b1c 100644
+--- a/include/fcl/geometry/octree/octree.h
++++ b/include/fcl/geometry/octree/octree.h
+@@ -61,7 +61,7 @@ namespace fcl
+ /// fcl/config.h if and only if octomap was found. Doxygen documentation will
+ /// be generated whether or not octomap was found.
+ template <typename S>
+-class FCL_EXPORT OcTree : public CollisionGeometry<S>
++class OcTree : public CollisionGeometry<S>
+ {
+ private:
+   std::shared_ptr<const octomap::OcTree> tree;
+@@ -190,7 +190,6 @@ using OcTreed = OcTree<double>;
+ 
+ /// @brief compute the bounding volume of an octree node's i-th child
+ template <typename S>
+-FCL_EXPORT
+ void computeChildBV(const AABB<S>& root_bv, unsigned int i, AABB<S>& child_bv);
+ 
+ } // namespace fcl
+diff --git a/include/fcl/geometry/shape/box-inl.h b/include/fcl/geometry/shape/box-inl.h
+index 053119a..474f6e3 100644
+--- a/include/fcl/geometry/shape/box-inl.h
++++ b/include/fcl/geometry/shape/box-inl.h
+@@ -45,7 +45,7 @@ namespace fcl
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT Box<double>;
++class Box<double>;
+ 
+ //==============================================================================
+ template <typename S>
+diff --git a/include/fcl/geometry/shape/box.h b/include/fcl/geometry/shape/box.h
+index d15e9f2..5460828 100644
+--- a/include/fcl/geometry/shape/box.h
++++ b/include/fcl/geometry/shape/box.h
+@@ -47,7 +47,7 @@ namespace fcl
+ 
+ /// @brief Center at zero point, axis aligned box
+ template <typename S_>
+-class FCL_EXPORT Box : public ShapeBase<S_>
++class Box : public ShapeBase<S_>
+ {
+ public:
+ 
+diff --git a/include/fcl/geometry/shape/capsule-inl.h b/include/fcl/geometry/shape/capsule-inl.h
+index b2add91..b1bfa45 100644
+--- a/include/fcl/geometry/shape/capsule-inl.h
++++ b/include/fcl/geometry/shape/capsule-inl.h
+@@ -45,7 +45,7 @@ namespace fcl
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT Capsule<double>;
++class Capsule<double>;
+ 
+ //==============================================================================
+ template <typename S>
+diff --git a/include/fcl/geometry/shape/capsule.h b/include/fcl/geometry/shape/capsule.h
+index 5add95e..831deed 100644
+--- a/include/fcl/geometry/shape/capsule.h
++++ b/include/fcl/geometry/shape/capsule.h
+@@ -47,7 +47,7 @@ namespace fcl
+ 
+ /// @brief Center at zero point capsule 
+ template <typename S_>
+-class FCL_EXPORT Capsule : public ShapeBase<S_>
++class Capsule : public ShapeBase<S_>
+ {
+ public:
+ 
+diff --git a/include/fcl/geometry/shape/cone-inl.h b/include/fcl/geometry/shape/cone-inl.h
+index 3b023fc..d52771d 100644
+--- a/include/fcl/geometry/shape/cone-inl.h
++++ b/include/fcl/geometry/shape/cone-inl.h
+@@ -45,7 +45,7 @@ namespace fcl
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT Cone<double>;
++class Cone<double>;
+ 
+ //==============================================================================
+ template <typename S>
+diff --git a/include/fcl/geometry/shape/cone.h b/include/fcl/geometry/shape/cone.h
+index ef9180c..5281220 100644
+--- a/include/fcl/geometry/shape/cone.h
++++ b/include/fcl/geometry/shape/cone.h
+@@ -47,7 +47,7 @@ namespace fcl
+ 
+ /// @brief Center at zero cone 
+ template <typename S_>
+-class FCL_EXPORT Cone : public ShapeBase<S_>
++class Cone : public ShapeBase<S_>
+ {
+ public:
+ 
+diff --git a/include/fcl/geometry/shape/convex-inl.h b/include/fcl/geometry/shape/convex-inl.h
+index 10adc69..09dc82c 100644
+--- a/include/fcl/geometry/shape/convex-inl.h
++++ b/include/fcl/geometry/shape/convex-inl.h
+@@ -50,7 +50,7 @@ namespace fcl
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT Convex<double>;
++class Convex<double>;
+ 
+ //==============================================================================
+ template <typename S>
+diff --git a/include/fcl/geometry/shape/convex.h b/include/fcl/geometry/shape/convex.h
+index d817b4c..e911613 100644
+--- a/include/fcl/geometry/shape/convex.h
++++ b/include/fcl/geometry/shape/convex.h
+@@ -80,7 +80,7 @@ namespace fcl
+ ///
+ /// @tparam S_  The scalar type; must be a valid Eigen scalar.
+ template <typename S_>
+-class FCL_EXPORT Convex : public ShapeBase<S_>
++class Convex : public ShapeBase<S_>
+ {
+ public:
+ 
+diff --git a/include/fcl/geometry/shape/cylinder-inl.h b/include/fcl/geometry/shape/cylinder-inl.h
+index f5a6211..7a351a1 100644
+--- a/include/fcl/geometry/shape/cylinder-inl.h
++++ b/include/fcl/geometry/shape/cylinder-inl.h
+@@ -45,7 +45,7 @@ namespace fcl
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT Cylinder<double>;
++class Cylinder<double>;
+ 
+ //==============================================================================
+ template <typename S>
+diff --git a/include/fcl/geometry/shape/cylinder.h b/include/fcl/geometry/shape/cylinder.h
+index bd67d31..5e33aec 100644
+--- a/include/fcl/geometry/shape/cylinder.h
++++ b/include/fcl/geometry/shape/cylinder.h
+@@ -47,7 +47,7 @@ namespace fcl
+ 
+ /// @brief Center at zero cylinder 
+ template <typename S_>
+-class FCL_EXPORT Cylinder : public ShapeBase<S_>
++class Cylinder : public ShapeBase<S_>
+ {
+ public:
+ 
+diff --git a/include/fcl/geometry/shape/ellipsoid-inl.h b/include/fcl/geometry/shape/ellipsoid-inl.h
+index 5bbf946..ff6fea0 100644
+--- a/include/fcl/geometry/shape/ellipsoid-inl.h
++++ b/include/fcl/geometry/shape/ellipsoid-inl.h
+@@ -45,7 +45,7 @@ namespace fcl
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT Ellipsoid<double>;
++class Ellipsoid<double>;
+ 
+ //==============================================================================
+ template <typename S>
+diff --git a/include/fcl/geometry/shape/ellipsoid.h b/include/fcl/geometry/shape/ellipsoid.h
+index 85632a9..3dfd1c0 100644
+--- a/include/fcl/geometry/shape/ellipsoid.h
++++ b/include/fcl/geometry/shape/ellipsoid.h
+@@ -47,7 +47,7 @@ namespace fcl
+ 
+ /// @brief Center at zero point ellipsoid
+ template <typename S_>
+-class FCL_EXPORT Ellipsoid : public ShapeBase<S_>
++class Ellipsoid : public ShapeBase<S_>
+ {
+ public:
+ 
+diff --git a/include/fcl/geometry/shape/halfspace-inl.h b/include/fcl/geometry/shape/halfspace-inl.h
+index bc58f80..fe3c0d3 100644
+--- a/include/fcl/geometry/shape/halfspace-inl.h
++++ b/include/fcl/geometry/shape/halfspace-inl.h
+@@ -45,7 +45,7 @@ namespace fcl
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT Halfspace<double>;
++class Halfspace<double>;
+ 
+ //==============================================================================
+ extern template
+diff --git a/include/fcl/geometry/shape/halfspace.h b/include/fcl/geometry/shape/halfspace.h
+index e679759..641241c 100644
+--- a/include/fcl/geometry/shape/halfspace.h
++++ b/include/fcl/geometry/shape/halfspace.h
+@@ -56,7 +56,7 @@ namespace fcl
+ /// in the positive side of the separation plane (i.e. {x | n * x > d}) are
+ /// outside the half space.
+ template <typename S_>
+-class FCL_EXPORT Halfspace : public ShapeBase<S_>
++class Halfspace : public ShapeBase<S_>
+ {
+ public:
+ 
+@@ -103,7 +103,6 @@ using Halfspacef = Halfspace<float>;
+ using Halfspaced = Halfspace<double>;
+ 
+ template <typename S>
+-FCL_EXPORT
+ Halfspace<S> transform(const Halfspace<S>& a, const Transform3<S>& tf);
+ 
+ } // namespace fcl
+diff --git a/include/fcl/geometry/shape/plane-inl.h b/include/fcl/geometry/shape/plane-inl.h
+index 2e5da9c..853bd2f 100644
+--- a/include/fcl/geometry/shape/plane-inl.h
++++ b/include/fcl/geometry/shape/plane-inl.h
+@@ -45,7 +45,7 @@ namespace fcl
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT Plane<double>;
++class Plane<double>;
+ 
+ //==============================================================================
+ extern template
+diff --git a/include/fcl/geometry/shape/plane.h b/include/fcl/geometry/shape/plane.h
+index bcf3421..6dfb074 100644
+--- a/include/fcl/geometry/shape/plane.h
++++ b/include/fcl/geometry/shape/plane.h
+@@ -47,7 +47,7 @@ namespace fcl
+ 
+ /// @brief Infinite plane 
+ template <typename S_>
+-class FCL_EXPORT Plane : public ShapeBase<S_>
++class Plane : public ShapeBase<S_>
+ {
+ public:
+ 
+@@ -93,7 +93,6 @@ using Planef = Plane<float>;
+ using Planed = Plane<double>;
+ 
+ template <typename S>
+-FCL_EXPORT
+ Plane<S> transform(const Plane<S>& a, const Transform3<S>& tf);
+ 
+ } // namespace fcl
+diff --git a/include/fcl/geometry/shape/shape_base-inl.h b/include/fcl/geometry/shape/shape_base-inl.h
+index b3148c4..ea8fa19 100644
+--- a/include/fcl/geometry/shape/shape_base-inl.h
++++ b/include/fcl/geometry/shape/shape_base-inl.h
+@@ -45,7 +45,7 @@ namespace fcl
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT ShapeBase<double>;
++class ShapeBase<double>;
+ 
+ //==============================================================================
+ template <typename S>
+diff --git a/include/fcl/geometry/shape/shape_base.h b/include/fcl/geometry/shape/shape_base.h
+index 6acc6da..1f68aa2 100644
+--- a/include/fcl/geometry/shape/shape_base.h
++++ b/include/fcl/geometry/shape/shape_base.h
+@@ -45,7 +45,7 @@ namespace fcl
+ 
+ /// @brief Base class for all basic geometric shapes
+ template <typename S_>
+-class FCL_EXPORT ShapeBase : public CollisionGeometry<S_>
++class ShapeBase : public CollisionGeometry<S_>
+ {
+ public:
+ 
+diff --git a/include/fcl/geometry/shape/sphere-inl.h b/include/fcl/geometry/shape/sphere-inl.h
+index 0da7eea..6a9a2d1 100644
+--- a/include/fcl/geometry/shape/sphere-inl.h
++++ b/include/fcl/geometry/shape/sphere-inl.h
+@@ -45,7 +45,7 @@ namespace fcl
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT Sphere<double>;
++class Sphere<double>;
+ 
+ //==============================================================================
+ template <typename S>
+diff --git a/include/fcl/geometry/shape/sphere.h b/include/fcl/geometry/shape/sphere.h
+index 48b6792..d33a3f0 100644
+--- a/include/fcl/geometry/shape/sphere.h
++++ b/include/fcl/geometry/shape/sphere.h
+@@ -47,7 +47,7 @@ namespace fcl
+ 
+ /// @brief Center at zero point sphere
+ template <typename S_>
+-class FCL_EXPORT Sphere : public ShapeBase<S_>
++class Sphere : public ShapeBase<S_>
+ {
+ public:
+ 
+diff --git a/include/fcl/geometry/shape/triangle_p-inl.h b/include/fcl/geometry/shape/triangle_p-inl.h
+index f48d41b..dc97e46 100644
+--- a/include/fcl/geometry/shape/triangle_p-inl.h
++++ b/include/fcl/geometry/shape/triangle_p-inl.h
+@@ -45,7 +45,7 @@ namespace fcl
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT TriangleP<double>;
++class TriangleP<double>;
+ 
+ //==============================================================================
+ template <typename S>
+diff --git a/include/fcl/geometry/shape/triangle_p.h b/include/fcl/geometry/shape/triangle_p.h
+index 7cc18ca..28e911a 100644
+--- a/include/fcl/geometry/shape/triangle_p.h
++++ b/include/fcl/geometry/shape/triangle_p.h
+@@ -47,7 +47,7 @@ namespace fcl
+ 
+ /// @brief Triangle stores the points instead of only indices of points
+ template <typename S_>
+-class FCL_EXPORT TriangleP : public ShapeBase<S_>
++class TriangleP : public ShapeBase<S_>
+ {
+ public:
+ 
+diff --git a/include/fcl/geometry/shape/utility-inl.h b/include/fcl/geometry/shape/utility-inl.h
+index ca42a0b..397eb72 100644
+--- a/include/fcl/geometry/shape/utility-inl.h
++++ b/include/fcl/geometry/shape/utility-inl.h
+@@ -122,7 +122,7 @@ namespace detail {
+ 
+ //==============================================================================
+ template <typename S, typename BV, typename Shape>
+-struct FCL_EXPORT ComputeBVImpl
++struct ComputeBVImpl
+ {
+   static void run(const Shape& s, const Transform3<S>& tf, BV& bv)
+   {
+@@ -134,7 +134,7 @@ struct FCL_EXPORT ComputeBVImpl
+ 
+ //==============================================================================
+ template <typename S>
+-struct FCL_EXPORT ComputeBVImpl<S, AABB<S>, Box<S>>
++struct ComputeBVImpl<S, AABB<S>, Box<S>>
+ {
+   static void run(const Box<S>& s, const Transform3<S>& tf, AABB<S>& bv)
+   {
+@@ -153,7 +153,7 @@ struct FCL_EXPORT ComputeBVImpl<S, AABB<S>, Box<S>>
+ 
+ //==============================================================================
+ template <typename S>
+-struct FCL_EXPORT ComputeBVImpl<S, OBB<S>, Box<S>>
++struct ComputeBVImpl<S, OBB<S>, Box<S>>
+ {
+   static void run(const Box<S>& s, const Transform3<S>& tf, OBB<S>& bv)
+   {
+@@ -165,7 +165,7 @@ struct FCL_EXPORT ComputeBVImpl<S, OBB<S>, Box<S>>
+ 
+ //==============================================================================
+ template <typename S>
+-struct FCL_EXPORT ComputeBVImpl<S, AABB<S>, Capsule<S>>
++struct ComputeBVImpl<S, AABB<S>, Capsule<S>>
+ {
+   static void run(const Capsule<S>& s, const Transform3<S>& tf, AABB<S>& bv)
+   {
+@@ -184,7 +184,7 @@ struct FCL_EXPORT ComputeBVImpl<S, AABB<S>, Capsule<S>>
+ 
+ //==============================================================================
+ template <typename S>
+-struct FCL_EXPORT ComputeBVImpl<S, OBB<S>, Capsule<S>>
++struct ComputeBVImpl<S, OBB<S>, Capsule<S>>
+ {
+   static void run(const Capsule<S>& s, const Transform3<S>& tf, OBB<S>& bv)
+   {
+@@ -196,7 +196,7 @@ struct FCL_EXPORT ComputeBVImpl<S, OBB<S>, Capsule<S>>
+ 
+ //==============================================================================
+ template <typename S>
+-struct FCL_EXPORT ComputeBVImpl<S, AABB<S>, Cone<S>>
++struct ComputeBVImpl<S, AABB<S>, Cone<S>>
+ {
+   static void run(const Cone<S>& s, const Transform3<S>& tf, AABB<S>& bv)
+   {
+@@ -215,7 +215,7 @@ struct FCL_EXPORT ComputeBVImpl<S, AABB<S>, Cone<S>>
+ 
+ //==============================================================================
+ template <typename S>
+-struct FCL_EXPORT ComputeBVImpl<S, OBB<S>, Cone<S>>
++struct ComputeBVImpl<S, OBB<S>, Cone<S>>
+ {
+   static void run(const Cone<S>& s, const Transform3<S>& tf, OBB<S>& bv)
+   {
+@@ -227,7 +227,7 @@ struct FCL_EXPORT ComputeBVImpl<S, OBB<S>, Cone<S>>
+ 
+ //==============================================================================
+ template <typename S>
+-struct FCL_EXPORT ComputeBVImpl<S, AABB<S>, Convex<S>>
++struct ComputeBVImpl<S, AABB<S>, Convex<S>>
+ {
+   static void run(const Convex<S>& s, const Transform3<S>& tf, AABB<S>& bv)
+   {
+@@ -247,7 +247,7 @@ struct FCL_EXPORT ComputeBVImpl<S, AABB<S>, Convex<S>>
+ 
+ //==============================================================================
+ template <typename S>
+-struct FCL_EXPORT ComputeBVImpl<S, OBB<S>, Convex<S>>
++struct ComputeBVImpl<S, OBB<S>, Convex<S>>
+ {
+   static void run(const Convex<S>& s, const Transform3<S>& tf, OBB<S>& bv)
+   {
+@@ -260,7 +260,7 @@ struct FCL_EXPORT ComputeBVImpl<S, OBB<S>, Convex<S>>
+ 
+ //==============================================================================
+ template <typename S>
+-struct FCL_EXPORT ComputeBVImpl<S, AABB<S>, Cylinder<S>>
++struct ComputeBVImpl<S, AABB<S>, Cylinder<S>>
+ {
+   static void run(const Cylinder<S>& s, const Transform3<S>& tf, AABB<S>& bv)
+   {
+@@ -279,7 +279,7 @@ struct FCL_EXPORT ComputeBVImpl<S, AABB<S>, Cylinder<S>>
+ 
+ //==============================================================================
+ template <typename S>
+-struct FCL_EXPORT ComputeBVImpl<S, OBB<S>, Cylinder<S>>
++struct ComputeBVImpl<S, OBB<S>, Cylinder<S>>
+ {
+   static void run(const Cylinder<S>& s, const Transform3<S>& tf, OBB<S>& bv)
+   {
+@@ -291,7 +291,7 @@ struct FCL_EXPORT ComputeBVImpl<S, OBB<S>, Cylinder<S>>
+ 
+ //==============================================================================
+ template <typename S>
+-struct FCL_EXPORT ComputeBVImpl<S, AABB<S>, Ellipsoid<S>>
++struct ComputeBVImpl<S, AABB<S>, Ellipsoid<S>>
+ {
+   static void run(const Ellipsoid<S>& s, const Transform3<S>& tf, AABB<S>& bv)
+   {
+@@ -310,7 +310,7 @@ struct FCL_EXPORT ComputeBVImpl<S, AABB<S>, Ellipsoid<S>>
+ 
+ //==============================================================================
+ template <typename S>
+-struct FCL_EXPORT ComputeBVImpl<S, OBB<S>, Ellipsoid<S>>
++struct ComputeBVImpl<S, OBB<S>, Ellipsoid<S>>
+ {
+   static void run(const Ellipsoid<S>& s, const Transform3<S>& tf, OBB<S>& bv)
+   {
+@@ -322,7 +322,7 @@ struct FCL_EXPORT ComputeBVImpl<S, OBB<S>, Ellipsoid<S>>
+ 
+ //==============================================================================
+ template <typename S>
+-struct FCL_EXPORT ComputeBVImpl<S, AABB<S>, Halfspace<S>>
++struct ComputeBVImpl<S, AABB<S>, Halfspace<S>>
+ {
+   static void run(const Halfspace<S>& s, const Transform3<S>& tf, AABB<S>& bv)
+   {
+@@ -358,7 +358,7 @@ struct FCL_EXPORT ComputeBVImpl<S, AABB<S>, Halfspace<S>>
+ 
+ //==============================================================================
+ template <typename S>
+-struct FCL_EXPORT ComputeBVImpl<S, OBB<S>, Halfspace<S>>
++struct ComputeBVImpl<S, OBB<S>, Halfspace<S>>
+ {
+   static void run(const Halfspace<S>& s, const Transform3<S>& tf, OBB<S>& bv)
+   {
+@@ -374,7 +374,7 @@ struct FCL_EXPORT ComputeBVImpl<S, OBB<S>, Halfspace<S>>
+ 
+ //==============================================================================
+ template <typename S>
+-struct FCL_EXPORT ComputeBVImpl<S, RSS<S>, Halfspace<S>>
++struct ComputeBVImpl<S, RSS<S>, Halfspace<S>>
+ {
+   static void run(const Halfspace<S>& s, const Transform3<S>& tf, RSS<S>& bv)
+   {
+@@ -390,7 +390,7 @@ struct FCL_EXPORT ComputeBVImpl<S, RSS<S>, Halfspace<S>>
+ 
+ //==============================================================================
+ template <typename S>
+-struct FCL_EXPORT ComputeBVImpl<S, OBBRSS<S>, Halfspace<S>>
++struct ComputeBVImpl<S, OBBRSS<S>, Halfspace<S>>
+ {
+   static void run(const Halfspace<S>& s, const Transform3<S>& tf, OBBRSS<S>& bv)
+   {
+@@ -401,7 +401,7 @@ struct FCL_EXPORT ComputeBVImpl<S, OBBRSS<S>, Halfspace<S>>
+ 
+ //==============================================================================
+ template <typename S>
+-struct FCL_EXPORT ComputeBVImpl<S, kIOS<S>, Halfspace<S>>
++struct ComputeBVImpl<S, kIOS<S>, Halfspace<S>>
+ {
+   static void run(const Halfspace<S>& s, const Transform3<S>& tf, kIOS<S>& bv)
+   {
+@@ -414,7 +414,7 @@ struct FCL_EXPORT ComputeBVImpl<S, kIOS<S>, Halfspace<S>>
+ 
+ //==============================================================================
+ template <typename S>
+-struct FCL_EXPORT ComputeBVImpl<S, KDOP<S, 16>, Halfspace<S>>
++struct ComputeBVImpl<S, KDOP<S, 16>, Halfspace<S>>
+ {
+   static void run(const Halfspace<S>& s, const Transform3<S>& tf, KDOP<S, 16>& bv)
+   {
+@@ -473,7 +473,7 @@ struct FCL_EXPORT ComputeBVImpl<S, KDOP<S, 16>, Halfspace<S>>
+ 
+ //==============================================================================
+ template <typename S>
+-struct FCL_EXPORT ComputeBVImpl<S, KDOP<S, 18>, Halfspace<S>>
++struct ComputeBVImpl<S, KDOP<S, 18>, Halfspace<S>>
+ {
+   static void run(const Halfspace<S>& s, const Transform3<S>& tf, KDOP<S, 18>& bv)
+   {
+@@ -538,7 +538,7 @@ struct FCL_EXPORT ComputeBVImpl<S, KDOP<S, 18>, Halfspace<S>>
+ 
+ //==============================================================================
+ template <typename S>
+-struct FCL_EXPORT ComputeBVImpl<S, KDOP<S, 24>, Halfspace<S>>
++struct ComputeBVImpl<S, KDOP<S, 24>, Halfspace<S>>
+ {
+   static void run(const Halfspace<S>& s, const Transform3<S>& tf, KDOP<S, 24>& bv)
+   {
+@@ -618,7 +618,7 @@ struct FCL_EXPORT ComputeBVImpl<S, KDOP<S, 24>, Halfspace<S>>
+ 
+ //==============================================================================
+ template <typename S>
+-struct FCL_EXPORT ComputeBVImpl<S, AABB<S>, Plane<S>>
++struct ComputeBVImpl<S, AABB<S>, Plane<S>>
+ {
+   static void run(const Plane<S>& s, const Transform3<S>& tf, AABB<S>& bv)
+   {
+@@ -654,7 +654,7 @@ struct FCL_EXPORT ComputeBVImpl<S, AABB<S>, Plane<S>>
+ 
+ //==============================================================================
+ template <typename S>
+-struct FCL_EXPORT ComputeBVImpl<S, OBB<S>, Plane<S>>
++struct ComputeBVImpl<S, OBB<S>, Plane<S>>
+ {
+   static void run(const Plane<S>& s, const Transform3<S>& tf, OBB<S>& bv)
+   {
+@@ -670,7 +670,7 @@ struct FCL_EXPORT ComputeBVImpl<S, OBB<S>, Plane<S>>
+ 
+ //==============================================================================
+ template <typename S>
+-struct FCL_EXPORT ComputeBVImpl<S, RSS<S>, Plane<S>>
++struct ComputeBVImpl<S, RSS<S>, Plane<S>>
+ {
+   static void run(const Plane<S>& s, const Transform3<S>& tf, RSS<S>& bv)
+   {
+@@ -689,7 +689,7 @@ struct FCL_EXPORT ComputeBVImpl<S, RSS<S>, Plane<S>>
+ 
+ //==============================================================================
+ template <typename S>
+-struct FCL_EXPORT ComputeBVImpl<S, OBBRSS<S>, Plane<S>>
++struct ComputeBVImpl<S, OBBRSS<S>, Plane<S>>
+ {
+   static void run(const Plane<S>& s, const Transform3<S>& tf, OBBRSS<S>& bv)
+   {
+@@ -700,7 +700,7 @@ struct FCL_EXPORT ComputeBVImpl<S, OBBRSS<S>, Plane<S>>
+ 
+ //==============================================================================
+ template <typename S>
+-struct FCL_EXPORT ComputeBVImpl<S, kIOS<S>, Plane<S>>
++struct ComputeBVImpl<S, kIOS<S>, Plane<S>>
+ {
+   static void run(const Plane<S>& s, const Transform3<S>& tf, kIOS<S>& bv)
+   {
+@@ -713,7 +713,7 @@ struct FCL_EXPORT ComputeBVImpl<S, kIOS<S>, Plane<S>>
+ 
+ //==============================================================================
+ template <typename S>
+-struct FCL_EXPORT ComputeBVImpl<S, KDOP<S, 16>, Plane<S>>
++struct ComputeBVImpl<S, KDOP<S, 16>, Plane<S>>
+ {
+   static void run(const Plane<S>& s, const Transform3<S>& tf, KDOP<S, 16>& bv)
+   {
+@@ -768,7 +768,7 @@ struct FCL_EXPORT ComputeBVImpl<S, KDOP<S, 16>, Plane<S>>
+ 
+ //==============================================================================
+ template <typename S>
+-struct FCL_EXPORT ComputeBVImpl<S, KDOP<S, 18>, Plane<S>>
++struct ComputeBVImpl<S, KDOP<S, 18>, Plane<S>>
+ {
+   static void run(const Plane<S>& s, const Transform3<S>& tf, KDOP<S, 18>& bv)
+   {
+@@ -827,7 +827,7 @@ struct FCL_EXPORT ComputeBVImpl<S, KDOP<S, 18>, Plane<S>>
+ 
+ //==============================================================================
+ template <typename S>
+-struct FCL_EXPORT ComputeBVImpl<S, KDOP<S, 24>, Plane<S>>
++struct ComputeBVImpl<S, KDOP<S, 24>, Plane<S>>
+ {
+   static void run(const Plane<S>& s, const Transform3<S>& tf, KDOP<S, 24>& bv)
+   {
+@@ -898,7 +898,7 @@ struct FCL_EXPORT ComputeBVImpl<S, KDOP<S, 24>, Plane<S>>
+ 
+ //==============================================================================
+ template <typename S>
+-struct FCL_EXPORT ComputeBVImpl<S, AABB<S>, Sphere<S>>
++struct ComputeBVImpl<S, AABB<S>, Sphere<S>>
+ {
+   static void run(const Sphere<S>& s, const Transform3<S>& tf, AABB<S>& bv)
+   {
+@@ -910,7 +910,7 @@ struct FCL_EXPORT ComputeBVImpl<S, AABB<S>, Sphere<S>>
+ 
+ //==============================================================================
+ template <typename S>
+-struct FCL_EXPORT ComputeBVImpl<S, OBB<S>, Sphere<S>>
++struct ComputeBVImpl<S, OBB<S>, Sphere<S>>
+ {
+   static void run(const Sphere<S>& s, const Transform3<S>& tf, OBB<S>& bv)
+   {
+@@ -922,7 +922,7 @@ struct FCL_EXPORT ComputeBVImpl<S, OBB<S>, Sphere<S>>
+ 
+ //==============================================================================
+ template <typename S>
+-struct FCL_EXPORT ComputeBVImpl<S, AABB<S>, TriangleP<S>>
++struct ComputeBVImpl<S, AABB<S>, TriangleP<S>>
+ {
+   static void run(const TriangleP<S>& s, const Transform3<S>& tf, AABB<S>& bv)
+   {
+@@ -1052,7 +1052,6 @@ struct ComputeBVImpl<double, AABB<double>, TriangleP<double>>;
+ 
+ //==============================================================================
+ template <typename BV, typename Shape>
+-FCL_EXPORT
+ void computeBV(const Shape& s, const Transform3<typename BV::S>& tf, BV& bv)
+ {
+   using S = typename BV::S;
+diff --git a/include/fcl/geometry/shape/utility.h b/include/fcl/geometry/shape/utility.h
+index ec70def..fe0bc62 100644
+--- a/include/fcl/geometry/shape/utility.h
++++ b/include/fcl/geometry/shape/utility.h
+@@ -57,72 +57,55 @@ namespace fcl
+ 
+ /// @brief calculate a bounding volume for a shape in a specific configuration
+ template <typename BV, typename Shape>
+-FCL_EXPORT
+ void computeBV(const Shape& s, const Transform3<typename BV::S>& tf, BV& bv);
+ 
+ /// @brief construct a box shape (with a configuration) from a given bounding volume
+ template <typename S>
+-FCL_EXPORT
+ void constructBox(const AABB<S>& bv, Box<S>& box, Transform3<S>& tf);
+ 
+ template <typename S>
+-FCL_EXPORT
+ void constructBox(const OBB<S>& bv, Box<S>& box, Transform3<S>& tf);
+ 
+ template <typename S>
+-FCL_EXPORT
+ void constructBox(const OBBRSS<S>& bv, Box<S>& box, Transform3<S>& tf);
+ 
+ template <typename S>
+-FCL_EXPORT
+ void constructBox(const kIOS<S>& bv, Box<S>& box, Transform3<S>& tf);
+ 
+ template <typename S>
+-FCL_EXPORT
+ void constructBox(const RSS<S>& bv, Box<S>& box, Transform3<S>& tf);
+ 
+ template <typename S>
+-FCL_EXPORT
+ void constructBox(const KDOP<S, 16>& bv, Box<S>& box, Transform3<S>& tf);
+ 
+ template <typename S>
+-FCL_EXPORT
+ void constructBox(const KDOP<S, 18>& bv, Box<S>& box, Transform3<S>& tf);
+ 
+ template <typename S>
+-FCL_EXPORT
+ void constructBox(const KDOP<S, 24>& bv, Box<S>& box, Transform3<S>& tf);
+ 
+ template <typename S>
+-FCL_EXPORT
+ void constructBox(const AABB<S>& bv, const Transform3<S>& tf_bv, Box<S>& box, Transform3<S>& tf);
+ 
+ template <typename S>
+-FCL_EXPORT
+ void constructBox(const OBB<S>& bv, const Transform3<S>& tf_bv, Box<S>& box, Transform3<S>& tf);
+ 
+ template <typename S>
+-FCL_EXPORT
+ void constructBox(const OBBRSS<S>& bv, const Transform3<S>& tf_bv, Box<S>& box, Transform3<S>& tf);
+ 
+ template <typename S>
+-FCL_EXPORT
+ void constructBox(const kIOS<S>& bv, const Transform3<S>& tf_bv, Box<S>& box, Transform3<S>& tf);
+ 
+ template <typename S>
+-FCL_EXPORT
+ void constructBox(const RSS<S>& bv, const Transform3<S>& tf_bv, Box<S>& box, Transform3<S>& tf);
+ 
+ template <typename S>
+-FCL_EXPORT
+ void constructBox(const KDOP<S, 16>& bv, const Transform3<S>& tf_bv, Box<S>& box, Transform3<S>& tf);
+ 
+ template <typename S>
+-FCL_EXPORT
+ void constructBox(const KDOP<S, 18>& bv, const Transform3<S>& tf_bv, Box<S>& box, Transform3<S>& tf);
+ 
+ template <typename S>
+-FCL_EXPORT
+ void constructBox(const KDOP<S, 24>& bv, const Transform3<S>& tf_bv, Box<S>& box, Transform3<S>& tf);
+ 
+ } // namespace fcl
+diff --git a/include/fcl/math/bv/AABB-inl.h b/include/fcl/math/bv/AABB-inl.h
+index 6738006..f4f738c 100644
+--- a/include/fcl/math/bv/AABB-inl.h
++++ b/include/fcl/math/bv/AABB-inl.h
+@@ -45,7 +45,7 @@ namespace fcl
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT AABB<double>;
++class AABB<double>;
+ 
+ //==============================================================================
+ template <typename S>
+diff --git a/include/fcl/math/bv/AABB.h b/include/fcl/math/bv/AABB.h
+index f84b737..d785a63 100644
+--- a/include/fcl/math/bv/AABB.h
++++ b/include/fcl/math/bv/AABB.h
+@@ -46,7 +46,7 @@ namespace fcl
+ /// @brief A class describing the AABB collision structure, which is a box in 3D
+ /// space determined by two diagonal points
+ template <typename S_>
+-class FCL_EXPORT AABB
++class AABB
+ {
+ public:
+ 
+diff --git a/include/fcl/math/bv/OBB-inl.h b/include/fcl/math/bv/OBB-inl.h
+index 4d5455f..07c1644 100644
+--- a/include/fcl/math/bv/OBB-inl.h
++++ b/include/fcl/math/bv/OBB-inl.h
+@@ -47,7 +47,7 @@ namespace fcl
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT OBB<double>;
++class OBB<double>;
+ 
+ //==============================================================================
+ extern template
+diff --git a/include/fcl/math/bv/OBB.h b/include/fcl/math/bv/OBB.h
+index 3d7e216..c611070 100644
+--- a/include/fcl/math/bv/OBB.h
++++ b/include/fcl/math/bv/OBB.h
+@@ -48,7 +48,7 @@ namespace fcl
+ 
+ /// @brief Oriented bounding box class
+ template <typename S_>
+-class FCL_EXPORT OBB
++class OBB
+ {
+ public:
+ 
+@@ -124,29 +124,24 @@ using OBBd = OBB<double>;
+ 
+ /// @brief Compute the 8 vertices of a OBB
+ template <typename S>
+-FCL_EXPORT
+ void computeVertices(const OBB<S>& b, Vector3<S> vertices[8]);
+ 
+ /// @brief OBB merge method when the centers of two smaller OBB are far away
+ template <typename S>
+-FCL_EXPORT
+ OBB<S> merge_largedist(const OBB<S>& b1, const OBB<S>& b2);
+ 
+ /// @brief OBB merge method when the centers of two smaller OBB are close
+ template <typename S>
+-FCL_EXPORT
+ OBB<S> merge_smalldist(const OBB<S>& b1, const OBB<S>& b2);
+ 
+ /// @brief Translate the OBB bv
+ template <typename S, typename Derived>
+-FCL_EXPORT
+ OBB<S> translate(
+     const OBB<S>& bv, const Eigen::MatrixBase<Derived>& t);
+ 
+ /// @brief Check collision between two obbs, b1 is in configuration (R0, T0) and
+ /// b2 is in identity.
+ template <typename S, typename DerivedA, typename DerivedB>
+-FCL_EXPORT
+ bool overlap(const Eigen::MatrixBase<DerivedA>& R0,
+              const Eigen::MatrixBase<DerivedB>& T0,
+              const OBB<S>& b1, const OBB<S>& b2);
+@@ -155,7 +150,6 @@ bool overlap(const Eigen::MatrixBase<DerivedA>& R0,
+ /// (R, T) and its half dimension is set by a; the second box is in identity
+ /// configuration and its half dimension is set by b.
+ template <typename S>
+-FCL_EXPORT
+ bool obbDisjoint(
+     const Matrix3<S>& B,
+     const Vector3<S>& T,
+@@ -166,7 +160,6 @@ bool obbDisjoint(
+ /// (R, T) and its half dimension is set by a; the second box is in identity
+ /// configuration and its half dimension is set by b.
+ template <typename S>
+-FCL_EXPORT
+ bool obbDisjoint(
+     const Transform3<S>& tf,
+     const Vector3<S>& a,
+diff --git a/include/fcl/math/bv/OBBRSS-inl.h b/include/fcl/math/bv/OBBRSS-inl.h
+index 814a66f..2a749a1 100644
+--- a/include/fcl/math/bv/OBBRSS-inl.h
++++ b/include/fcl/math/bv/OBBRSS-inl.h
+@@ -45,7 +45,7 @@ namespace fcl
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT OBBRSS<double>;
++class OBBRSS<double>;
+ 
+ //==============================================================================
+ extern template
+diff --git a/include/fcl/math/bv/OBBRSS.h b/include/fcl/math/bv/OBBRSS.h
+index 9f84c11..4f1d656 100644
+--- a/include/fcl/math/bv/OBBRSS.h
++++ b/include/fcl/math/bv/OBBRSS.h
+@@ -47,7 +47,7 @@ namespace fcl
+ /// @brief Class merging the OBB and RSS, can handle collision and distance
+ /// simultaneously
+ template <typename S_>
+-class FCL_EXPORT OBBRSS
++class OBBRSS
+ {
+ public:
+ 
+@@ -108,13 +108,11 @@ using OBBRSSd = OBBRSS<double>;
+ 
+ /// @brief Translate the OBBRSS bv
+ template <typename S>
+-FCL_EXPORT
+ OBBRSS<S> translate(const OBBRSS<S>& bv, const Vector3<S>& t);
+ 
+ /// @brief Check collision between two OBBRSS, b1 is in configuration (R0, T0)
+ /// and b2 is in indentity
+ template <typename S, typename DerivedA, typename DerivedB>
+-FCL_EXPORT
+ bool overlap(const Eigen::MatrixBase<DerivedA>& R0,
+              const Eigen::MatrixBase<DerivedB>& T0,
+              const OBBRSS<S>& b1, const OBBRSS<S>& b2);
+@@ -122,7 +120,6 @@ bool overlap(const Eigen::MatrixBase<DerivedA>& R0,
+ /// @brief Check collision between two OBBRSS, b1 is in configuration (R0, T0)
+ /// and b2 is in indentity
+ template <typename S>
+-FCL_EXPORT
+ bool overlap(
+     const Transform3<S>& tf,
+     const OBBRSS<S>& b1,
+@@ -131,7 +128,6 @@ bool overlap(
+ /// @brief Computate distance between two OBBRSS, b1 is in configuation (R0, T0)
+ /// and b2 is in indentity; P and Q, is not nullptr, returns the nearest points
+ template <typename S, typename DerivedA, typename DerivedB>
+-FCL_EXPORT
+ S distance(
+     const Eigen::MatrixBase<DerivedA>& R0,
+     const Eigen::MatrixBase<DerivedB>& T0,
+@@ -141,7 +137,6 @@ S distance(
+ /// @brief Computate distance between two OBBRSS, b1 is in configuation (R0, T0)
+ /// and b2 is in indentity; P and Q, is not nullptr, returns the nearest points
+ template <typename S>
+-FCL_EXPORT
+ S distance(
+     const Transform3<S>& tf,
+     const OBBRSS<S>& b1,
+diff --git a/include/fcl/math/bv/RSS-inl.h b/include/fcl/math/bv/RSS-inl.h
+index 2cbc7dd..68baaa7 100644
+--- a/include/fcl/math/bv/RSS-inl.h
++++ b/include/fcl/math/bv/RSS-inl.h
+@@ -45,7 +45,7 @@ namespace fcl
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT RSS<double>;
++class RSS<double>;
+ 
+ //==============================================================================
+ extern template
+diff --git a/include/fcl/math/bv/RSS.h b/include/fcl/math/bv/RSS.h
+index 514531c..4aea7fd 100644
+--- a/include/fcl/math/bv/RSS.h
++++ b/include/fcl/math/bv/RSS.h
+@@ -55,7 +55,7 @@ namespace fcl
+ /// relative orientation between frame T and F and p_FoTo_F (the #To field) is
+ /// the position of T's origin in frame F.
+ template <typename S_>
+-class FCL_EXPORT RSS
++class RSS
+ {
+ public:
+ 
+@@ -153,7 +153,6 @@ using RSSd = RSS<double>;
+ 
+ /// @brief Clip value between a and b
+ template <typename S>
+-FCL_EXPORT
+ void clipToRange(S& val, S a, S b);
+ 
+ /// @brief Finds the parameters t & u corresponding to the two closest points on
+@@ -169,7 +168,6 @@ void clipToRange(S& val, S a, S b);
+ /// Reference: "On fast computation of distance between line segments." Vladimir
+ /// J. Lumelsky, in Information Processing Letters, no. 21, pages 55-61, 1985.
+ template <typename S>
+-FCL_EXPORT
+ void segCoords(S& t, S& u, S a, S b,
+                S A_dot_B, S A_dot_T, S B_dot_T);
+ 
+@@ -179,7 +177,6 @@ void segCoords(S& t, S& u, S a, S b,
+ /// determined by the point Pa and the direction Anorm.
+ /// A,B, and Anorm are unit vectors. T is the vector between Pa and Pb.
+ template <typename S>
+-FCL_EXPORT
+ bool inVoronoi(S a, S b,
+                S Anorm_dot_B, S Anorm_dot_T,
+                S A_dot_B, S A_dot_T, S B_dot_T);
+@@ -188,7 +185,6 @@ bool inVoronoi(S a, S b,
+ /// values) are the closest points in the rectangles, both are in the local
+ /// frame of the first rectangle.
+ template <typename S>
+-FCL_EXPORT
+ S rectDistance(
+     const Matrix3<S>& Rab,
+     const Vector3<S>& Tab,
+@@ -201,7 +197,6 @@ S rectDistance(
+ /// values) are the closest points in the rectangles, both are in the local
+ /// frame of the first rectangle.
+ template <typename S>
+-FCL_EXPORT
+ S rectDistance(
+     const Transform3<S>& tfab,
+     const S a[2],
+@@ -215,7 +210,6 @@ S rectDistance(
+ /// points. Notice that P and Q are both in the local frame of the first RSS
+ /// (not global frame and not even the local frame of object 1)
+ template <typename S, typename DerivedA, typename DerivedB>
+-FCL_EXPORT
+ S distance(
+     const Eigen::MatrixBase<DerivedA>& R0,
+     const Eigen::MatrixBase<DerivedB>& T0,
+@@ -227,7 +221,6 @@ S distance(
+ /// @brief Check collision between two RSSs, b1 is in configuration (R0, T0) and
+ /// b2 is in identity.
+ template <typename S, typename DerivedA, typename DerivedB>
+-FCL_EXPORT
+ bool overlap(
+     const Eigen::MatrixBase<DerivedA>& R0,
+     const Eigen::MatrixBase<DerivedB>& T0,
+@@ -236,7 +229,6 @@ bool overlap(
+ 
+ /// @brief Translate the RSS bv
+ template <typename S>
+-FCL_EXPORT
+ RSS<S> translate(const RSS<S>& bv, const Vector3<S>& t);
+ 
+ } // namespace fcl
+diff --git a/include/fcl/math/bv/kDOP-inl.h b/include/fcl/math/bv/kDOP-inl.h
+index f660266..980e9a3 100644
+--- a/include/fcl/math/bv/kDOP-inl.h
++++ b/include/fcl/math/bv/kDOP-inl.h
+@@ -47,15 +47,15 @@ namespace fcl
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT KDOP<double, 16>;
++class KDOP<double, 16>;
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT KDOP<double, 18>;
++class KDOP<double, 18>;
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT KDOP<double, 24>;
++class KDOP<double, 24>;
+ 
+ //==============================================================================
+ extern template
+@@ -79,7 +79,6 @@ void getDistances<double, 9>(const Vector3<double>& p, double* d);
+ 
+ //==============================================================================
+ template <typename S, std::size_t N>
+-FCL_EXPORT
+ KDOP<S, N>::KDOP()
+ {
+   static_assert(N == 16 || N == 18 || N == 24, "N should be 16, 18, or 24");
+@@ -94,7 +93,6 @@ KDOP<S, N>::KDOP()
+ 
+ //==============================================================================
+ template <typename S, std::size_t N>
+-FCL_EXPORT
+ KDOP<S, N>::KDOP(const Vector3<S>& v)
+ {
+   for(std::size_t i = 0; i < 3; ++i)
+@@ -112,7 +110,6 @@ KDOP<S, N>::KDOP(const Vector3<S>& v)
+ 
+ //==============================================================================
+ template <typename S, std::size_t N>
+-FCL_EXPORT
+ KDOP<S, N>::KDOP(const Vector3<S>& a, const Vector3<S>& b)
+ {
+   for(std::size_t i = 0; i < 3; ++i)
+@@ -131,7 +128,6 @@ KDOP<S, N>::KDOP(const Vector3<S>& a, const Vector3<S>& b)
+ 
+ //==============================================================================
+ template <typename S, std::size_t N>
+-FCL_EXPORT
+ bool KDOP<S, N>::overlap(const KDOP<S, N>& other) const
+ {
+   for(std::size_t i = 0; i < N / 2; ++i)
+@@ -145,7 +141,6 @@ bool KDOP<S, N>::overlap(const KDOP<S, N>& other) const
+ 
+ //==============================================================================
+ template <typename S, std::size_t N>
+-FCL_EXPORT
+ bool KDOP<S, N>::inside(const Vector3<S>& p) const
+ {
+   for(std::size_t i = 0; i < 3; ++i)
+@@ -167,7 +162,6 @@ bool KDOP<S, N>::inside(const Vector3<S>& p) const
+ 
+ //==============================================================================
+ template <typename S, std::size_t N>
+-FCL_EXPORT
+ KDOP<S, N>& KDOP<S, N>::operator += (const Vector3<S>& p)
+ {
+   for(std::size_t i = 0; i < 3; ++i)
+@@ -187,7 +181,6 @@ KDOP<S, N>& KDOP<S, N>::operator += (const Vector3<S>& p)
+ 
+ //==============================================================================
+ template <typename S, std::size_t N>
+-FCL_EXPORT
+ KDOP<S, N>& KDOP<S, N>::operator += (const KDOP<S, N>& other)
+ {
+   for(std::size_t i = 0; i < N / 2; ++i)
+@@ -200,7 +193,6 @@ KDOP<S, N>& KDOP<S, N>::operator += (const KDOP<S, N>& other)
+ 
+ //==============================================================================
+ template <typename S, std::size_t N>
+-FCL_EXPORT
+ KDOP<S, N> KDOP<S, N>::operator + (const KDOP<S, N>& other) const
+ {
+   KDOP<S, N> res(*this);
+@@ -209,7 +201,6 @@ KDOP<S, N> KDOP<S, N>::operator + (const KDOP<S, N>& other) const
+ 
+ //==============================================================================
+ template <typename S, std::size_t N>
+-FCL_EXPORT
+ S KDOP<S, N>::width() const
+ {
+   return dist_[N / 2] - dist_[0];
+@@ -217,7 +208,6 @@ S KDOP<S, N>::width() const
+ 
+ //==============================================================================
+ template <typename S, std::size_t N>
+-FCL_EXPORT
+ S KDOP<S, N>::height() const
+ {
+   return dist_[N / 2 + 1] - dist_[1];
+@@ -225,7 +215,6 @@ S KDOP<S, N>::height() const
+ 
+ //==============================================================================
+ template <typename S, std::size_t N>
+-FCL_EXPORT
+ S KDOP<S, N>::depth() const
+ {
+   return dist_[N / 2 + 2] - dist_[2];
+@@ -233,7 +222,6 @@ S KDOP<S, N>::depth() const
+ 
+ //==============================================================================
+ template <typename S, std::size_t N>
+-FCL_EXPORT
+ S KDOP<S, N>::volume() const
+ {
+   return width() * height() * depth();
+@@ -241,7 +229,6 @@ S KDOP<S, N>::volume() const
+ 
+ //==============================================================================
+ template <typename S, std::size_t N>
+-FCL_EXPORT
+ S KDOP<S, N>::size() const
+ {
+   return width() * width() + height() * height() + depth() * depth();
+@@ -249,7 +236,6 @@ S KDOP<S, N>::size() const
+ 
+ //==============================================================================
+ template <typename S, std::size_t N>
+-FCL_EXPORT
+ Vector3<S> KDOP<S, N>::center() const
+ {
+   return Vector3<S>(dist_[0] + dist_[N / 2], dist_[1] + dist_[N / 2 + 1], dist_[2] + dist_[N / 2 + 2]) * 0.5;
+@@ -257,7 +243,6 @@ Vector3<S> KDOP<S, N>::center() const
+ 
+ //==============================================================================
+ template <typename S, std::size_t N>
+-FCL_EXPORT
+ S KDOP<S, N>::distance(const KDOP<S, N>& other, Vector3<S>* P, Vector3<S>* Q) const
+ {
+   FCL_UNUSED(other);
+@@ -270,7 +255,6 @@ S KDOP<S, N>::distance(const KDOP<S, N>& other, Vector3<S>* P, Vector3<S>* Q) co
+ 
+ //==============================================================================
+ template <typename S, std::size_t N>
+-FCL_EXPORT
+ S KDOP<S, N>::dist(std::size_t i) const
+ {
+   return dist_[i];
+@@ -278,7 +262,6 @@ S KDOP<S, N>::dist(std::size_t i) const
+ 
+ //==============================================================================
+ template <typename S, std::size_t N>
+-FCL_EXPORT
+ S& KDOP<S, N>::dist(std::size_t i)
+ {
+   return dist_[i];
+@@ -286,7 +269,6 @@ S& KDOP<S, N>::dist(std::size_t i)
+ 
+ //==============================================================================
+ template <typename S, std::size_t N, typename Derived>
+-FCL_EXPORT
+ KDOP<S, N> translate(
+     const KDOP<S, N>& bv, const Eigen::MatrixBase<Derived>& t)
+ {
+@@ -310,7 +292,6 @@ KDOP<S, N> translate(
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void minmax(S a, S b, S& minv, S& maxv)
+ {
+   if(a > b)
+@@ -327,7 +308,6 @@ void minmax(S a, S b, S& minv, S& maxv)
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void minmax(S p, S& minv, S& maxv)
+ {
+   if(p > maxv) maxv = p;
+@@ -346,7 +326,6 @@ struct GetDistancesImpl
+ 
+ //==============================================================================
+ template <typename S, std::size_t N>
+-FCL_EXPORT
+ void getDistances(const Vector3<S>& p, S* d)
+ {
+   GetDistancesImpl<S, N>::run(p, d);
+@@ -354,7 +333,7 @@ void getDistances(const Vector3<S>& p, S* d)
+ 
+ //==============================================================================
+ template <typename S>
+-struct FCL_EXPORT GetDistancesImpl<S, 5>
++struct GetDistancesImpl<S, 5>
+ {
+   static void run(const Vector3<S>& p, S* d)
+   {
+@@ -368,7 +347,7 @@ struct FCL_EXPORT GetDistancesImpl<S, 5>
+ 
+ //==============================================================================
+ template <typename S>
+-struct FCL_EXPORT GetDistancesImpl<S, 6>
++struct GetDistancesImpl<S, 6>
+ {
+   static void run(const Vector3<S>& p, S* d)
+   {
+@@ -383,7 +362,7 @@ struct FCL_EXPORT GetDistancesImpl<S, 6>
+ 
+ //==============================================================================
+ template <typename S>
+-struct FCL_EXPORT GetDistancesImpl<S, 9>
++struct GetDistancesImpl<S, 9>
+ {
+   static void run(const Vector3<S>& p, S* d)
+   {
+diff --git a/include/fcl/math/bv/kDOP.h b/include/fcl/math/bv/kDOP.h
+index 54b7e9c..8b31216 100644
+--- a/include/fcl/math/bv/kDOP.h
++++ b/include/fcl/math/bv/kDOP.h
+@@ -81,7 +81,7 @@ namespace fcl
+ /// (-1, 1, -1) and (1, -1, 1) --> indices 10 and 22
+ /// (1, -1, -1) and (-1, 1, 1) --> indices 11 and 23
+ template <typename S_, std::size_t N>
+-class FCL_EXPORT KDOP
++class KDOP
+ {
+ public:
+ 
+@@ -152,23 +152,19 @@ using KDOPd = KDOP<double, N>;
+ 
+ /// @brief Find the smaller and larger one of two values
+ template <typename S>
+-FCL_EXPORT
+ void minmax(S a, S b, S& minv, S& maxv);
+ 
+ /// @brief Merge the interval [minv, maxv] and value p/
+ template <typename S>
+-FCL_EXPORT
+ void minmax(S p, S& minv, S& maxv);
+ 
+ /// @brief Compute the distances to planes with normals from KDOP vectors except
+ /// those of AABB face planes
+ template <typename S, std::size_t N>
+-FCL_EXPORT
+ void getDistances(const Vector3<S>& p, S* d);
+ 
+ /// @brief translate the KDOP BV
+ template <typename S, std::size_t N, typename Derived>
+-FCL_EXPORT
+ KDOP<S, N> translate(
+     const KDOP<S, N>& bv, const Eigen::MatrixBase<Derived>& t);
+ 
+diff --git a/include/fcl/math/bv/kIOS-inl.h b/include/fcl/math/bv/kIOS-inl.h
+index 81a802a..0760cdc 100644
+--- a/include/fcl/math/bv/kIOS-inl.h
++++ b/include/fcl/math/bv/kIOS-inl.h
+@@ -45,7 +45,7 @@ namespace fcl
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT kIOS<double>;
++class kIOS<double>;
+ 
+ //==============================================================================
+ template <typename S>
+diff --git a/include/fcl/math/bv/kIOS.h b/include/fcl/math/bv/kIOS.h
+index 85f8933..3cf9417 100644
+--- a/include/fcl/math/bv/kIOS.h
++++ b/include/fcl/math/bv/kIOS.h
+@@ -45,7 +45,7 @@ namespace fcl
+  
+ /// @brief A class describing the kIOS collision structure, which is a set of spheres.
+ template <typename S_>
+-class FCL_EXPORT kIOS
++class kIOS
+ {
+   /// @brief One sphere in kIOS
+   struct kIOS_Sphere
+@@ -126,7 +126,6 @@ using kIOSd = kIOS<double>;
+ 
+ /// @brief Translate the kIOS BV
+ template <typename S, typename Derived>
+-FCL_EXPORT
+ kIOS<S> translate(
+     const kIOS<S>& bv, const Eigen::MatrixBase<Derived>& t);
+ 
+@@ -134,7 +133,6 @@ kIOS<S> translate(
+ /// and b2 is in identity.
+ /// @todo Not efficient
+ template <typename S, typename DerivedA, typename DerivedB>
+-FCL_EXPORT
+ bool overlap(
+     const Eigen::MatrixBase<DerivedA>& R0,
+     const Eigen::MatrixBase<DerivedB>& T0,
+@@ -144,7 +142,6 @@ bool overlap(
+ /// and b2 is in identity.
+ /// @todo Not efficient
+ template <typename S>
+-FCL_EXPORT
+ bool overlap(
+     const Transform3<S>& tf,
+     const kIOS<S>& b1,
+@@ -153,7 +150,6 @@ bool overlap(
+ /// @brief Approximate distance between two kIOS bounding volumes
+ /// @todo P and Q is not returned, need implementation
+ template <typename S, typename DerivedA, typename DerivedB>
+-FCL_EXPORT
+ S distance(
+     const Eigen::MatrixBase<DerivedA>& R0,
+     const Eigen::MatrixBase<DerivedB>& T0,
+@@ -165,7 +161,6 @@ S distance(
+ /// @brief Approximate distance between two kIOS bounding volumes
+ /// @todo P and Q is not returned, need implementation
+ template <typename S>
+-FCL_EXPORT
+ S distance(
+     const Transform3<S>& tf,
+     const kIOS<S>& b1,
+diff --git a/include/fcl/math/bv/utility-inl.h b/include/fcl/math/bv/utility-inl.h
+index 333ec15..ec01ed4 100644
+--- a/include/fcl/math/bv/utility-inl.h
++++ b/include/fcl/math/bv/utility-inl.h
+@@ -62,7 +62,6 @@ namespace OBB_fit_functions {
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void fit1(const Vector3<S>* const ps, OBB<S>& bv)
+ {
+   bv.To = ps[0];
+@@ -72,7 +71,6 @@ void fit1(const Vector3<S>* const ps, OBB<S>& bv)
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void fit2(const Vector3<S>* const ps, OBB<S>& bv)
+ {
+   const Vector3<S>& p1 = ps[0];
+@@ -88,7 +86,6 @@ void fit2(const Vector3<S>* const ps, OBB<S>& bv)
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void fit3(const Vector3<S>* const ps, OBB<S>& bv)
+ {
+   const Vector3<S>& p1 = ps[0];
+@@ -118,7 +115,6 @@ void fit3(const Vector3<S>* const ps, OBB<S>& bv)
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void fit6(const Vector3<S>* const ps, OBB<S>& bv)
+ {
+   OBB<S> bv1, bv2;
+@@ -129,7 +125,6 @@ void fit6(const Vector3<S>* const ps, OBB<S>& bv)
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void fitn(const Vector3<S>* const ps, int n, OBB<S>& bv)
+ {
+   Matrix3<S> M;
+@@ -174,7 +169,6 @@ namespace RSS_fit_functions {
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void fit1(const Vector3<S>* const ps, RSS<S>& bv)
+ {
+   bv.To = ps[0];
+@@ -186,7 +180,6 @@ void fit1(const Vector3<S>* const ps, RSS<S>& bv)
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void fit2(const Vector3<S>* const ps, RSS<S>& bv)
+ {
+   const Vector3<S>& p1 = ps[0];
+@@ -204,7 +197,6 @@ void fit2(const Vector3<S>* const ps, RSS<S>& bv)
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void fit3(const Vector3<S>* const ps, RSS<S>& bv)
+ {
+   const Vector3<S>& p1 = ps[0];
+@@ -232,7 +224,6 @@ void fit3(const Vector3<S>* const ps, RSS<S>& bv)
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void fit6(const Vector3<S>* const ps, RSS<S>& bv)
+ {
+   RSS<S> bv1, bv2;
+@@ -243,7 +234,6 @@ void fit6(const Vector3<S>* const ps, RSS<S>& bv)
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void fitn(const Vector3<S>* const ps, int n, RSS<S>& bv)
+ {
+   Matrix3<S> M; // row first matrix
+@@ -293,7 +283,6 @@ namespace kIOS_fit_functions {
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void fit1(const Vector3<S>* const ps, kIOS<S>& bv)
+ {
+   bv.num_spheres = 1;
+@@ -307,7 +296,6 @@ void fit1(const Vector3<S>* const ps, kIOS<S>& bv)
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void fit2(const Vector3<S>* const ps, kIOS<S>& bv)
+ {
+   bv.num_spheres = 5;
+@@ -343,7 +331,6 @@ void fit2(const Vector3<S>* const ps, kIOS<S>& bv)
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void fit3(const Vector3<S>* const ps, kIOS<S>& bv)
+ {
+   bv.num_spheres = 3;
+@@ -389,7 +376,6 @@ void fit3(const Vector3<S>* const ps, kIOS<S>& bv)
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void fitn(const Vector3<S>* const ps, int n, kIOS<S>& bv)
+ {
+   Matrix3<S> M;
+@@ -485,7 +471,6 @@ namespace OBBRSS_fit_functions {
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void fit1(const Vector3<S>* const ps, OBBRSS<S>& bv)
+ {
+   OBB_fit_functions::fit1(ps, bv.obb);
+@@ -494,7 +479,6 @@ void fit1(const Vector3<S>* const ps, OBBRSS<S>& bv)
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void fit2(const Vector3<S>* const ps, OBBRSS<S>& bv)
+ {
+   OBB_fit_functions::fit2(ps, bv.obb);
+@@ -503,7 +487,6 @@ void fit2(const Vector3<S>* const ps, OBBRSS<S>& bv)
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void fit3(const Vector3<S>* const ps, OBBRSS<S>& bv)
+ {
+   OBB_fit_functions::fit3(ps, bv.obb);
+@@ -512,7 +495,6 @@ void fit3(const Vector3<S>* const ps, OBBRSS<S>& bv)
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void fitn(const Vector3<S>* const ps, int n, OBBRSS<S>& bv)
+ {
+   OBB_fit_functions::fitn(ps, n, bv.obb);
+@@ -541,7 +523,7 @@ void fitn(const Vector3d* const ps, int n, OBBRSS<double>& bv);
+ 
+ //==============================================================================
+ template <typename S, typename BV>
+-struct FCL_EXPORT Fitter
++struct Fitter
+ {
+   static void fit(const Vector3<S>* const ps, int n, BV& bv)
+   {
+@@ -552,7 +534,7 @@ struct FCL_EXPORT Fitter
+ 
+ //==============================================================================
+ template <typename S>
+-struct FCL_EXPORT Fitter<S, OBB<S>>
++struct Fitter<S, OBB<S>>
+ {
+   static void fit(const Vector3<S>* const ps, int n, OBB<S>& bv)
+   {
+@@ -578,7 +560,7 @@ struct FCL_EXPORT Fitter<S, OBB<S>>
+ 
+ //==============================================================================
+ template <typename S>
+-struct FCL_EXPORT Fitter<S, RSS<S>>
++struct Fitter<S, RSS<S>>
+ {
+   static void fit(const Vector3<S>* const ps, int n, RSS<S>& bv)
+   {
+@@ -601,7 +583,7 @@ struct FCL_EXPORT Fitter<S, RSS<S>>
+ 
+ //==============================================================================
+ template <typename S>
+-struct FCL_EXPORT Fitter<S, kIOS<S>>
++struct Fitter<S, kIOS<S>>
+ {
+   static void fit(const Vector3<S>* const ps, int n, kIOS<S>& bv)
+   {
+@@ -624,7 +606,7 @@ struct FCL_EXPORT Fitter<S, kIOS<S>>
+ 
+ //==============================================================================
+ template <typename S>
+-struct FCL_EXPORT Fitter<S, OBBRSS<S>>
++struct Fitter<S, OBBRSS<S>>
+ {
+   static void fit(const Vector3<S>* const ps, int n, OBBRSS<S>& bv)
+   {
+@@ -667,7 +649,6 @@ struct Fitter<double, OBBRSS<double>>;
+ 
+ //==============================================================================
+ template <typename BV>
+-FCL_EXPORT
+ void fit(const Vector3<typename BV::S>* const ps, int n, BV& bv)
+ {
+   detail::Fitter<typename BV::S, BV>::fit(ps, n, bv);
+@@ -680,7 +661,7 @@ namespace detail {
+ /// @brief Convert a bounding volume of type BV1 in configuration tf1 to a
+ /// bounding volume of type BV2 in I configuration.
+ template <typename S, typename BV1, typename BV2>
+-class FCL_EXPORT ConvertBVImpl
++class ConvertBVImpl
+ {
+ private:
+   static void run(const BV1& bv1, const Transform3<S>& tf1, BV2& bv2)
+@@ -696,7 +677,7 @@ private:
+ //==============================================================================
+ /// @brief Convert from AABB to AABB, not very tight but is fast.
+ template <typename S>
+-class FCL_EXPORT ConvertBVImpl<S, AABB<S>, AABB<S>>
++class ConvertBVImpl<S, AABB<S>, AABB<S>>
+ {
+ public:
+   static void run(const AABB<S>& bv1, const Transform3<S>& tf1, AABB<S>& bv2)
+@@ -712,7 +693,7 @@ public:
+ 
+ //==============================================================================
+ template <typename S>
+-class FCL_EXPORT ConvertBVImpl<S, AABB<S>, OBB<S>>
++class ConvertBVImpl<S, AABB<S>, OBB<S>>
+ {
+ public:
+   static void run(const AABB<S>& bv1, const Transform3<S>& tf1, OBB<S>& bv2)
+@@ -761,7 +742,7 @@ public:
+ 
+ //==============================================================================
+ template <typename S>
+-class FCL_EXPORT ConvertBVImpl<S, OBB<S>, OBB<S>>
++class ConvertBVImpl<S, OBB<S>, OBB<S>>
+ {
+ public:
+   static void run(const OBB<S>& bv1, const Transform3<S>& tf1, OBB<S>& bv2)
+@@ -774,7 +755,7 @@ public:
+ 
+ //==============================================================================
+ template <typename S>
+-class FCL_EXPORT ConvertBVImpl<S, OBBRSS<S>, OBB<S>>
++class ConvertBVImpl<S, OBBRSS<S>, OBB<S>>
+ {
+ public:
+   static void run(const OBBRSS<S>& bv1, const Transform3<S>& tf1, OBB<S>& bv2)
+@@ -785,7 +766,7 @@ public:
+ 
+ //==============================================================================
+ template <typename S>
+-class FCL_EXPORT ConvertBVImpl<S, RSS<S>, OBB<S>>
++class ConvertBVImpl<S, RSS<S>, OBB<S>>
+ {
+ public:
+   static void run(const RSS<S>& bv1, const Transform3<S>& tf1, OBB<S>& bv2)
+@@ -798,7 +779,7 @@ public:
+ 
+ //==============================================================================
+ template <typename S, typename BV1>
+-class FCL_EXPORT ConvertBVImpl<S, BV1, AABB<S>>
++class ConvertBVImpl<S, BV1, AABB<S>>
+ {
+ public:
+   static void run(const BV1& bv1, const Transform3<S>& tf1, AABB<S>& bv2)
+@@ -814,7 +795,7 @@ public:
+ 
+ //==============================================================================
+ template <typename S, typename BV1>
+-class FCL_EXPORT ConvertBVImpl<S, BV1, OBB<S>>
++class ConvertBVImpl<S, BV1, OBB<S>>
+ {
+ public:
+   static void run(const BV1& bv1, const Transform3<S>& tf1, OBB<S>& bv2)
+@@ -827,7 +808,7 @@ public:
+ 
+ //==============================================================================
+ template <typename S>
+-class FCL_EXPORT ConvertBVImpl<S, OBB<S>, RSS<S>>
++class ConvertBVImpl<S, OBB<S>, RSS<S>>
+ {
+ public:
+   static void run(const OBB<S>& bv1, const Transform3<S>& tf1, RSS<S>& bv2)
+@@ -854,7 +835,7 @@ public:
+ 
+ //==============================================================================
+ template <typename S>
+-class FCL_EXPORT ConvertBVImpl<S, RSS<S>, RSS<S>>
++class ConvertBVImpl<S, RSS<S>, RSS<S>>
+ {
+ public:
+   static void run(const RSS<S>& bv1, const Transform3<S>& tf1, RSS<S>& bv2)
+@@ -870,7 +851,7 @@ public:
+ 
+ //==============================================================================
+ template <typename S>
+-class FCL_EXPORT ConvertBVImpl<S, OBBRSS<S>, RSS<S>>
++class ConvertBVImpl<S, OBBRSS<S>, RSS<S>>
+ {
+ public:
+   static void run(const OBBRSS<S>& bv1, const Transform3<S>& tf1, RSS<S>& bv2)
+@@ -881,7 +862,7 @@ public:
+ 
+ //==============================================================================
+ template <typename S>
+-class FCL_EXPORT ConvertBVImpl<S, AABB<S>, RSS<S>>
++class ConvertBVImpl<S, AABB<S>, RSS<S>>
+ {
+ public:
+   static void run(const AABB<S>& bv1, const Transform3<S>& tf1, RSS<S>& bv2)
+@@ -929,39 +910,39 @@ public:
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT ConvertBVImpl<double, AABB<double>, AABB<double>>;
++class ConvertBVImpl<double, AABB<double>, AABB<double>>;
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT ConvertBVImpl<double, AABB<double>, OBB<double>>;
++class ConvertBVImpl<double, AABB<double>, OBB<double>>;
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT ConvertBVImpl<double, OBB<double>, OBB<double>>;
++class ConvertBVImpl<double, OBB<double>, OBB<double>>;
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT ConvertBVImpl<double, OBBRSS<double>, OBB<double>>;
++class ConvertBVImpl<double, OBBRSS<double>, OBB<double>>;
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT ConvertBVImpl<double, RSS<double>, OBB<double>>;
++class ConvertBVImpl<double, RSS<double>, OBB<double>>;
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT ConvertBVImpl<double, OBB<double>, RSS<double>>;
++class ConvertBVImpl<double, OBB<double>, RSS<double>>;
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT ConvertBVImpl<double, RSS<double>, RSS<double>>;
++class ConvertBVImpl<double, RSS<double>, RSS<double>>;
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT ConvertBVImpl<double, OBBRSS<double>, RSS<double>>;
++class ConvertBVImpl<double, OBBRSS<double>, RSS<double>>;
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT ConvertBVImpl<double, AABB<double>, RSS<double>>;
++class ConvertBVImpl<double, AABB<double>, RSS<double>>;
+ 
+ //==============================================================================
+ } // namespace detail
+@@ -969,7 +950,6 @@ class FCL_EXPORT ConvertBVImpl<double, AABB<double>, RSS<double>>;
+ 
+ //==============================================================================
+ template <typename BV1, typename BV2>
+-FCL_EXPORT
+ void convertBV(
+     const BV1& bv1, const Transform3<typename BV1::S>& tf1, BV2& bv2)
+ {
+diff --git a/include/fcl/math/bv/utility.h b/include/fcl/math/bv/utility.h
+index 2cea40c..c10ffde 100644
+--- a/include/fcl/math/bv/utility.h
++++ b/include/fcl/math/bv/utility.h
+@@ -46,13 +46,11 @@ namespace fcl
+ 
+ /// @brief Compute a bounding volume that fits a set of n points.
+ template <typename BV>
+-FCL_EXPORT
+ void fit(const Vector3<typename BV::S>* const ps, int n, BV& bv);
+ 
+ /// @brief Convert a bounding volume of type BV1 in configuration tf1 to
+ /// bounding volume of type BV2 in identity configuration.
+ template <typename BV1, typename BV2>
+-FCL_EXPORT
+ void convertBV(
+     const BV1& bv1, const Transform3<typename BV1::S>& tf1, BV2& bv2);
+ 
+diff --git a/include/fcl/math/constants.h b/include/fcl/math/constants.h
+index ba24176..d94dbc7 100644
+--- a/include/fcl/math/constants.h
++++ b/include/fcl/math/constants.h
+@@ -126,7 +126,7 @@ struct ScalarTrait<float> {
+ ///
+ /// \tparam S The scalar type for which constant values will be retrieved.
+ template <typename S>
+-struct FCL_EXPORT constants
++struct constants
+ {
+ typedef typename detail::ScalarTrait<S>::type Real;
+ 
+diff --git a/include/fcl/math/detail/polysolver-inl.h b/include/fcl/math/detail/polysolver-inl.h
+index c2c538c..2bf96e3 100644
+--- a/include/fcl/math/detail/polysolver-inl.h
++++ b/include/fcl/math/detail/polysolver-inl.h
+@@ -50,7 +50,7 @@ namespace detail {
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT PolySolver<double>;
++class PolySolver<double>;
+ 
+ //==============================================================================
+ template <typename S>
+diff --git a/include/fcl/math/detail/polysolver.h b/include/fcl/math/detail/polysolver.h
+index 52808a9..bcad09f 100644
+--- a/include/fcl/math/detail/polysolver.h
++++ b/include/fcl/math/detail/polysolver.h
+@@ -47,7 +47,7 @@ namespace detail {
+ 
+ /// @brief A class solves polynomial degree (1,2,3) equations 
+ template <typename S>
+-class FCL_EXPORT PolySolver
++class PolySolver
+ {
+ public:
+   /// @brief Solve a linear equation with coefficients c, return roots s and number of roots 
+diff --git a/include/fcl/math/detail/project-inl.h b/include/fcl/math/detail/project-inl.h
+index abe4df6..b8f3d9f 100644
+--- a/include/fcl/math/detail/project-inl.h
++++ b/include/fcl/math/detail/project-inl.h
+@@ -48,7 +48,7 @@ namespace detail
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT Project<double>;
++class Project<double>;
+ 
+ //==============================================================================
+ template <typename S>
+diff --git a/include/fcl/math/detail/project.h b/include/fcl/math/detail/project.h
+index 39311f2..4b19b0d 100644
+--- a/include/fcl/math/detail/project.h
++++ b/include/fcl/math/detail/project.h
+@@ -49,7 +49,7 @@ namespace detail
+ 
+ /// @brief Project functions
+ template <typename S>
+-class FCL_EXPORT Project
++class Project
+ {
+ public:
+   struct ProjectResult
+diff --git a/include/fcl/math/geometry-inl.h b/include/fcl/math/geometry-inl.h
+index a9d3dc8..149a6b8 100644
+--- a/include/fcl/math/geometry-inl.h
++++ b/include/fcl/math/geometry-inl.h
+@@ -145,7 +145,6 @@ namespace detail {
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ S maximumDistance_mesh(
+     const Vector3<S>* const ps,
+     const Vector3<S>* const ps2,
+@@ -190,7 +189,6 @@ S maximumDistance_mesh(
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ S maximumDistance_pointcloud(
+     const Vector3<S>* const ps,
+     const Vector3<S>* const ps2,
+@@ -225,7 +223,6 @@ S maximumDistance_pointcloud(
+ /// @brief Compute the bounding volume extent and center for a set or subset of
+ /// points. The bounding volume axes are known.
+ template <typename S>
+-FCL_EXPORT
+ void getExtentAndCenter_pointcloud(
+     const Vector3<S>* const ps,
+     const Vector3<S>* const ps2,
+@@ -290,7 +287,6 @@ void getExtentAndCenter_pointcloud(
+ /// @brief Compute the bounding volume extent and center for a set or subset of
+ /// points. The bounding volume axes are known.
+ template <typename S>
+-FCL_EXPORT
+ void getExtentAndCenter_mesh(
+     const Vector3<S>* const ps,
+     const Vector3<S>* const ps2,
+@@ -409,7 +405,6 @@ void getExtentAndCenter_mesh(
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void normalize(Vector3<S>& v, bool* signal)
+ {
+   S sqr_length = v.squaredNorm();
+@@ -427,7 +422,6 @@ void normalize(Vector3<S>& v, bool* signal)
+ 
+ //==============================================================================
+ template <typename Derived>
+-FCL_EXPORT
+ typename Derived::RealScalar triple(const Eigen::MatrixBase<Derived>& x,
+                                     const Eigen::MatrixBase<Derived>& y,
+                                     const Eigen::MatrixBase<Derived>& z)
+@@ -437,7 +431,6 @@ typename Derived::RealScalar triple(const Eigen::MatrixBase<Derived>& x,
+ 
+ //==============================================================================
+ template <typename S, int M, int N>
+-FCL_EXPORT
+ VectorN<S, M+N> combine(
+     const VectorN<S, M>& v1, const VectorN<S, N>& v2)
+ {
+@@ -449,7 +442,6 @@ VectorN<S, M+N> combine(
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void hat(Matrix3<S>& mat, const Vector3<S>& vec)
+ {
+   mat << 0, -vec[2], vec[1], vec[2], 0, -vec[0], -vec[1], vec[0], 0;
+@@ -457,7 +449,6 @@ void hat(Matrix3<S>& mat, const Vector3<S>& vec)
+ 
+ //==============================================================================
+ template<typename S>
+-FCL_EXPORT
+ void eigen(const Matrix3<S>& m, Vector3<S>& dout, Matrix3<S>& vout)
+ {
+   // We assume that m is symmetric matrix.
+@@ -473,7 +464,6 @@ void eigen(const Matrix3<S>& m, Vector3<S>& dout, Matrix3<S>& vout)
+ 
+ //==============================================================================
+ template<typename S>
+-FCL_EXPORT
+ void eigen_old(const Matrix3<S>& m, Vector3<S>& dout, Matrix3<S>& vout)
+ {
+   Matrix3<S> R(m);
+@@ -563,7 +553,6 @@ void eigen_old(const Matrix3<S>& m, Vector3<S>& dout, Matrix3<S>& vout)
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void axisFromEigen(const Matrix3<S>& eigenV,
+                    const Vector3<S>& eigenS,
+                    Matrix3<S>& axis)
+@@ -603,7 +592,6 @@ void axisFromEigen(const Matrix3<S>& eigenV,
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void axisFromEigen(const Matrix3<S>& eigenV,
+                    const Vector3<S>& eigenS,
+                    Transform3<S>& tf)
+@@ -643,7 +631,6 @@ void axisFromEigen(const Matrix3<S>& eigenV,
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ Matrix3<S> generateCoordinateSystem(const Vector3<S>& x_axis)
+ {
+   Matrix3<S> axis;
+@@ -655,7 +642,6 @@ Matrix3<S> generateCoordinateSystem(const Vector3<S>& x_axis)
+ 
+ //==============================================================================
+ template <typename DerivedA, typename DerivedB, typename DerivedC, typename DerivedD>
+-FCL_EXPORT
+ void relativeTransform(
+     const Eigen::MatrixBase<DerivedA>& R1, const Eigen::MatrixBase<DerivedB>& t1,
+     const Eigen::MatrixBase<DerivedA>& R2, const Eigen::MatrixBase<DerivedB>& t2,
+@@ -687,7 +673,6 @@ void relativeTransform(
+ 
+ //==============================================================================
+ template <typename S, typename DerivedA, typename DerivedB>
+-FCL_EXPORT
+ void relativeTransform(
+     const Transform3<S>& T1,
+     const Transform3<S>& T2,
+@@ -709,7 +694,6 @@ void relativeTransform(
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void getRadiusAndOriginAndRectangleSize(
+     const Vector3<S>* const ps,
+     const Vector3<S>* const ps2,
+@@ -992,7 +976,6 @@ void getRadiusAndOriginAndRectangleSize(
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void getRadiusAndOriginAndRectangleSize(
+     const Vector3<S>* const ps,
+     const Vector3<S>* const ps2,
+@@ -1274,7 +1257,6 @@ void getRadiusAndOriginAndRectangleSize(
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void circumCircleComputation(
+     const Vector3<S>& a,
+     const Vector3<S>& b,
+@@ -1299,7 +1281,6 @@ void circumCircleComputation(
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ S maximumDistance(
+     const Vector3<S>* const ps,
+     const Vector3<S>* const ps2,
+@@ -1316,7 +1297,6 @@ S maximumDistance(
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void getExtentAndCenter(
+     const Vector3<S>* const ps,
+     const Vector3<S>* const ps2,
+@@ -1335,7 +1315,6 @@ void getExtentAndCenter(
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void getCovariance(
+     const Vector3<S>* const ps,
+     const Vector3<S>* const ps2,
+diff --git a/include/fcl/math/geometry.h b/include/fcl/math/geometry.h
+index 90c2a5a..58b1bf8 100644
+--- a/include/fcl/math/geometry.h
++++ b/include/fcl/math/geometry.h
+@@ -49,44 +49,36 @@
+ namespace fcl {
+ 
+ template <typename S>
+-FCL_EXPORT
+ void normalize(Vector3<S>& v, bool* signal);
+ 
+ template <typename Derived>
+-FCL_EXPORT
+ typename Derived::RealScalar triple(const Eigen::MatrixBase<Derived>& x,
+                                     const Eigen::MatrixBase<Derived>& y,
+                                     const Eigen::MatrixBase<Derived>& z);
+ 
+ template <typename S, int M, int N>
+-FCL_EXPORT
+ VectorN<S, M+N> combine(
+     const VectorN<S, M>& v1, const VectorN<S, N>& v2);
+ 
+ template <typename S>
+-FCL_EXPORT
+ void hat(Matrix3<S>& mat, const Vector3<S>& vec);
+ 
+ /// @brief compute the eigen vector and eigen vector of a matrix. dout is the
+ /// eigen values, vout is the eigen vectors
+ template <typename S>
+-FCL_EXPORT
+ void eigen(const Matrix3<S>& m, Vector3<S>& dout, Matrix3<S>& vout);
+ 
+ /// @brief compute the eigen vector and eigen vector of a matrix. dout is the
+ /// eigen values, vout is the eigen vectors
+ template<typename S>
+-FCL_EXPORT
+ void eigen_old(const Matrix3<S>& m, Vector3<S>& dout, Matrix3<S>& vout);
+ 
+ template <typename S>
+-FCL_EXPORT
+ void axisFromEigen(const Matrix3<S>& eigenV,
+                    const Vector3<S>& eigenS,
+                    Matrix3<S>& axis);
+ 
+ template <typename S>
+-FCL_EXPORT
+ void axisFromEigen(const Matrix3<S>& eigenV,
+                    const Vector3<S>& eigenS,
+                    Transform3<S>& tf);
+@@ -102,18 +94,15 @@ void axisFromEigen(const Matrix3<S>& eigenV,
+ ///         orthogonal to each other. Otherwise, the orientation of the y-axis
+ ///         and z-axis to the x-axis is arbitrary.
+ template <typename S>
+-FCL_EXPORT
+ Matrix3<S> generateCoordinateSystem(const Vector3<S>& x_axis);
+ 
+ template <typename DerivedA, typename DerivedB, typename DerivedC, typename DerivedD>
+-FCL_EXPORT
+ void relativeTransform(
+     const Eigen::MatrixBase<DerivedA>& R1, const Eigen::MatrixBase<DerivedB>& t1,
+     const Eigen::MatrixBase<DerivedA>& R2, const Eigen::MatrixBase<DerivedB>& t2,
+     Eigen::MatrixBase<DerivedC>& R, Eigen::MatrixBase<DerivedD>& t);
+ 
+ template <typename S, typename DerivedA, typename DerivedB>
+-FCL_EXPORT
+ void relativeTransform(
+     const Eigen::Transform<S, 3, Eigen::Isometry>& T1,
+     const Eigen::Transform<S, 3, Eigen::Isometry>& T2,
+@@ -122,7 +111,6 @@ void relativeTransform(
+ /// @brief Compute the RSS bounding volume parameters: radius, rectangle size
+ /// and the origin, given the BV axises.
+ template <typename S>
+-FCL_EXPORT
+ void getRadiusAndOriginAndRectangleSize(
+     const Vector3<S>* const ps,
+     const Vector3<S>* const ps2,
+@@ -137,7 +125,6 @@ void getRadiusAndOriginAndRectangleSize(
+ /// @brief Compute the RSS bounding volume parameters: radius, rectangle size
+ /// and the origin, given the BV axises.
+ template <typename S>
+-FCL_EXPORT
+ void getRadiusAndOriginAndRectangleSize(
+     const Vector3<S>* const ps,
+     const Vector3<S>* const ps2,
+@@ -150,7 +137,6 @@ void getRadiusAndOriginAndRectangleSize(
+ 
+ /// @brief Compute the center and radius for a triangle's circumcircle
+ template <typename S>
+-FCL_EXPORT
+ void circumCircleComputation(
+     const Vector3<S>& a,
+     const Vector3<S>& b,
+@@ -160,7 +146,6 @@ void circumCircleComputation(
+ 
+ /// @brief Compute the maximum distance from a given center point to a point cloud
+ template <typename S>
+-FCL_EXPORT
+ S maximumDistance(
+     const Vector3<S>* const ps,
+     const Vector3<S>* const ps2,
+@@ -172,7 +157,6 @@ S maximumDistance(
+ /// @brief Compute the bounding volume extent and center for a set or subset of
+ /// points, given the BV axises.
+ template <typename S>
+-FCL_EXPORT
+ void getExtentAndCenter(
+     const Vector3<S>* const ps,
+     const Vector3<S>* const ps2,
+@@ -186,7 +170,6 @@ void getExtentAndCenter(
+ /// @brief Compute the bounding volume extent and center for a set or subset of
+ /// points, given the BV axises.
+ template <typename S>
+-FCL_EXPORT
+ void getExtentAndCenter(
+     const Vector3<S>* const ps,
+     const Vector3<S>* const ps2,
+@@ -200,7 +183,6 @@ void getExtentAndCenter(
+ /// ts = null, then indices refer to points directly; otherwise refer to
+ /// triangles
+ template <typename S>
+-FCL_EXPORT
+ void getCovariance(
+     const Vector3<S>* const ps,
+     const Vector3<S>* const ps2,
+diff --git a/include/fcl/math/motion/bv_motion_bound_visitor.h b/include/fcl/math/motion/bv_motion_bound_visitor.h
+index cecfe06..e60d3c2 100644
+--- a/include/fcl/math/motion/bv_motion_bound_visitor.h
++++ b/include/fcl/math/motion/bv_motion_bound_visitor.h
+@@ -59,7 +59,7 @@ class TranslationMotion;
+ /// @brief Compute the motion bound for a bounding volume, given the closest
+ /// direction n between two query objects
+ template <typename S>
+-class FCL_EXPORT BVMotionBoundVisitor
++class BVMotionBoundVisitor
+ {
+ public:
+   virtual S visit(const MotionBase<S>& motion) const = 0;
+diff --git a/include/fcl/math/motion/interp_motion-inl.h b/include/fcl/math/motion/interp_motion-inl.h
+index 384367a..f14a051 100644
+--- a/include/fcl/math/motion/interp_motion-inl.h
++++ b/include/fcl/math/motion/interp_motion-inl.h
+@@ -45,7 +45,7 @@ namespace fcl
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT InterpMotion<double>;
++class InterpMotion<double>;
+ 
+ //==============================================================================
+ template <typename S>
+diff --git a/include/fcl/math/motion/interp_motion.h b/include/fcl/math/motion/interp_motion.h
+index a7f58eb..69cbd8e 100644
+--- a/include/fcl/math/motion/interp_motion.h
++++ b/include/fcl/math/motion/interp_motion.h
+@@ -55,7 +55,7 @@ namespace fcl
+ ///            T(0) = T0 + R0 p_ref - p_ref
+ ///            T(1) = T1 + R1 p_ref - p_ref
+ template <typename S>
+-class FCL_EXPORT InterpMotion : public MotionBase<S>
++class InterpMotion : public MotionBase<S>
+ {
+ public:
+   /// @brief Default transformations are all identities
+diff --git a/include/fcl/math/motion/motion_base-inl.h b/include/fcl/math/motion/motion_base-inl.h
+index 280058f..eb36808 100644
+--- a/include/fcl/math/motion/motion_base-inl.h
++++ b/include/fcl/math/motion/motion_base-inl.h
+@@ -45,7 +45,7 @@ namespace fcl
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT MotionBase<double>;
++class MotionBase<double>;
+ 
+ //==============================================================================
+ template <typename S>
+diff --git a/include/fcl/math/motion/screw_motion-inl.h b/include/fcl/math/motion/screw_motion-inl.h
+index 53c5c5b..ce5c7ae 100644
+--- a/include/fcl/math/motion/screw_motion-inl.h
++++ b/include/fcl/math/motion/screw_motion-inl.h
+@@ -45,7 +45,7 @@ namespace fcl
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT ScrewMotion<double>;
++class ScrewMotion<double>;
+ 
+ //==============================================================================
+ template <typename S>
+diff --git a/include/fcl/math/motion/screw_motion.h b/include/fcl/math/motion/screw_motion.h
+index fce3387..0adb7fa 100644
+--- a/include/fcl/math/motion/screw_motion.h
++++ b/include/fcl/math/motion/screw_motion.h
+@@ -49,7 +49,7 @@ namespace fcl
+ {
+ 
+ template <typename S>
+-class FCL_EXPORT ScrewMotion : public MotionBase<S>
++class ScrewMotion : public MotionBase<S>
+ {
+ public:
+   /// @brief Default transformations are all identities
+diff --git a/include/fcl/math/motion/spline_motion-inl.h b/include/fcl/math/motion/spline_motion-inl.h
+index e3d992d..cd8fe0f 100644
+--- a/include/fcl/math/motion/spline_motion-inl.h
++++ b/include/fcl/math/motion/spline_motion-inl.h
+@@ -47,7 +47,7 @@ namespace fcl
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT SplineMotion<double>;
++class SplineMotion<double>;
+ 
+ //==============================================================================
+ template <typename S>
+diff --git a/include/fcl/math/motion/spline_motion.h b/include/fcl/math/motion/spline_motion.h
+index 96f2eba..a6082ac 100644
+--- a/include/fcl/math/motion/spline_motion.h
++++ b/include/fcl/math/motion/spline_motion.h
+@@ -50,7 +50,7 @@ namespace fcl
+ {
+ 
+ template <typename S>
+-class FCL_EXPORT SplineMotion : public MotionBase<S>
++class SplineMotion : public MotionBase<S>
+ {
+ public:
+   /// @brief Construct motion from 4 deBoor points
+diff --git a/include/fcl/math/motion/taylor_model/interval.h b/include/fcl/math/motion/taylor_model/interval.h
+index cda1aa7..5aa2dc5 100644
+--- a/include/fcl/math/motion/taylor_model/interval.h
++++ b/include/fcl/math/motion/taylor_model/interval.h
+@@ -47,7 +47,7 @@ namespace fcl
+ 
+ /// @brief Interval class for [a, b]
+ template <typename S>
+-struct FCL_EXPORT Interval
++struct Interval
+ {
+   S i_[2];
+ 
+@@ -125,11 +125,9 @@ struct FCL_EXPORT Interval
+ };
+ 
+ template <typename S>
+-FCL_EXPORT
+ Interval<S> bound(const Interval<S>& i, S v);
+ 
+ template <typename S>
+-FCL_EXPORT
+ Interval<S> bound(const Interval<S>& i, const Interval<S>& other);
+ 
+ } // namespace fcl
+diff --git a/include/fcl/math/motion/taylor_model/interval_matrix.h b/include/fcl/math/motion/taylor_model/interval_matrix.h
+index eab03c2..3f16c3e 100644
+--- a/include/fcl/math/motion/taylor_model/interval_matrix.h
++++ b/include/fcl/math/motion/taylor_model/interval_matrix.h
+@@ -45,7 +45,7 @@ namespace fcl
+ {
+ 
+ template <typename S>
+-struct FCL_EXPORT IMatrix3
++struct IMatrix3
+ {
+   IVector3<S> v_[3];
+ 
+@@ -95,7 +95,6 @@ struct FCL_EXPORT IMatrix3
+ };
+ 
+ template <typename S>
+-FCL_EXPORT
+ IMatrix3<S> rotationConstrain(const IMatrix3<S>& m);
+ 
+ } // namespace fcl
+diff --git a/include/fcl/math/motion/taylor_model/interval_vector.h b/include/fcl/math/motion/taylor_model/interval_vector.h
+index d5e5a94..c59e81a 100644
+--- a/include/fcl/math/motion/taylor_model/interval_vector.h
++++ b/include/fcl/math/motion/taylor_model/interval_vector.h
+@@ -44,7 +44,7 @@ namespace fcl
+ {
+ 
+ template <typename S>
+-struct FCL_EXPORT IVector3
++struct IVector3
+ {
+   Interval<S> i_[3];
+ 
+@@ -106,11 +106,9 @@ struct FCL_EXPORT IVector3
+ };
+ 
+ template <typename S>
+-FCL_EXPORT
+ IVector3<S> bound(const IVector3<S>& i, const Vector3<S>& v);
+ 
+ template <typename S>
+-FCL_EXPORT
+ IVector3<S> bound(const IVector3<S>& i, const IVector3<S>& v);
+ 
+ } // namespace fcl
+diff --git a/include/fcl/math/motion/taylor_model/taylor_matrix-inl.h b/include/fcl/math/motion/taylor_model/taylor_matrix-inl.h
+index f5b1843..52b5a80 100644
+--- a/include/fcl/math/motion/taylor_model/taylor_matrix-inl.h
++++ b/include/fcl/math/motion/taylor_model/taylor_matrix-inl.h
+@@ -45,7 +45,7 @@ namespace fcl
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT TMatrix3<double>;
++class TMatrix3<double>;
+ 
+ //==============================================================================
+ extern template
+diff --git a/include/fcl/math/motion/taylor_model/taylor_matrix.h b/include/fcl/math/motion/taylor_model/taylor_matrix.h
+index c26f533..2c4a111 100644
+--- a/include/fcl/math/motion/taylor_model/taylor_matrix.h
++++ b/include/fcl/math/motion/taylor_model/taylor_matrix.h
+@@ -45,7 +45,7 @@ namespace fcl
+ {
+ 
+ template <typename S>
+-class FCL_EXPORT TMatrix3
++class TMatrix3
+ {
+   TVector3<S> v_[3];
+   
+@@ -106,31 +106,24 @@ public:
+ };
+ 
+ template <typename S>
+-FCL_EXPORT
+ TMatrix3<S> rotationConstrain(const TMatrix3<S>& m);
+ 
+ template <typename S>
+-FCL_EXPORT
+ TMatrix3<S> operator * (const Matrix3<S>& m, const TaylorModel<S>& a);
+ 
+ template <typename S>
+-FCL_EXPORT
+ TMatrix3<S> operator * (const TaylorModel<S>& a, const Matrix3<S>& m);
+ 
+ template <typename S>
+-FCL_EXPORT
+ TMatrix3<S> operator * (const TaylorModel<S>& a, const TMatrix3<S>& m);
+ 
+ template <typename S>
+-FCL_EXPORT
+ TMatrix3<S> operator * (S d, const TMatrix3<S>& m);
+ 
+ template <typename S>
+-FCL_EXPORT
+ TMatrix3<S> operator + (const Matrix3<S>& m1, const TMatrix3<S>& m2);
+ 
+ template <typename S>
+-FCL_EXPORT
+ TMatrix3<S> operator - (const Matrix3<S>& m1, const TMatrix3<S>& m2);
+ 
+ } // namespace fcl
+diff --git a/include/fcl/math/motion/taylor_model/taylor_model-inl.h b/include/fcl/math/motion/taylor_model/taylor_model-inl.h
+index 861f72d..2ebb086 100644
+--- a/include/fcl/math/motion/taylor_model/taylor_model-inl.h
++++ b/include/fcl/math/motion/taylor_model/taylor_model-inl.h
+@@ -48,7 +48,7 @@ namespace fcl
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT TaylorModel<double>;
++class TaylorModel<double>;
+ 
+ //==============================================================================
+ extern template
+diff --git a/include/fcl/math/motion/taylor_model/taylor_model.h b/include/fcl/math/motion/taylor_model/taylor_model.h
+index b8c1999..e80561f 100644
+--- a/include/fcl/math/motion/taylor_model/taylor_model.h
++++ b/include/fcl/math/motion/taylor_model/taylor_model.h
+@@ -55,7 +55,7 @@ namespace fcl
+ /// remainder. All the operations on two Taylor models assume their time
+ /// intervals are the same.
+ template <typename S>
+-class FCL_EXPORT TaylorModel
++class TaylorModel
+ {
+   /// @brief time interval
+   std::shared_ptr<TimeInterval<S>> time_interval_;
+@@ -118,30 +118,24 @@ public:
+ };
+ 
+ template <typename S>
+-FCL_EXPORT
+ TaylorModel<S> operator * (S d, const TaylorModel<S>& a);
+ 
+ template <typename S>
+-FCL_EXPORT
+ TaylorModel<S> operator + (S d, const TaylorModel<S>& a);
+ 
+ template <typename S>
+-FCL_EXPORT
+ TaylorModel<S> operator - (S d, const TaylorModel<S>& a);
+ 
+ /// @brief Generate Taylor model for cos(w t + q0)
+ template <typename S>
+-FCL_EXPORT
+ void generateTaylorModelForCosFunc(TaylorModel<S>& tm, S w, S q0);
+ 
+ /// @brief Generate Taylor model for sin(w t + q0)
+ template <typename S>
+-FCL_EXPORT
+ void generateTaylorModelForSinFunc(TaylorModel<S>& tm, S w, S q0);
+ 
+ /// @brief Generate Taylor model for p + v t
+ template <typename S>
+-FCL_EXPORT
+ void generateTaylorModelForLinearFunc(TaylorModel<S>& tm, S p, S v);
+ 
+ } // namespace fcl
+diff --git a/include/fcl/math/motion/taylor_model/taylor_vector-inl.h b/include/fcl/math/motion/taylor_model/taylor_vector-inl.h
+index 1ce2b36..516f7b5 100644
+--- a/include/fcl/math/motion/taylor_model/taylor_vector-inl.h
++++ b/include/fcl/math/motion/taylor_model/taylor_vector-inl.h
+@@ -45,7 +45,7 @@ namespace fcl
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT TVector3<double>;
++class TVector3<double>;
+ 
+ //==============================================================================
+ extern template
+diff --git a/include/fcl/math/motion/taylor_model/taylor_vector.h b/include/fcl/math/motion/taylor_model/taylor_vector.h
+index 7df662f..884a3ca 100644
+--- a/include/fcl/math/motion/taylor_model/taylor_vector.h
++++ b/include/fcl/math/motion/taylor_model/taylor_vector.h
+@@ -45,7 +45,7 @@ namespace fcl
+ {
+ 
+ template <typename S>
+-class FCL_EXPORT TVector3
++class TVector3
+ {
+   TaylorModel<S> i_[3];
+ 
+@@ -104,19 +104,15 @@ public:
+ };
+ 
+ template <typename S>
+-FCL_EXPORT
+ void generateTVector3ForLinearFunc(TVector3<S>& v, const Vector3<S>& position, const Vector3<S>& velocity);
+ 
+ template <typename S>
+-FCL_EXPORT
+ TVector3<S> operator * (const Vector3<S>& v, const TaylorModel<S>& a);
+ 
+ template <typename S>
+-FCL_EXPORT
+ TVector3<S> operator + (const Vector3<S>& v1, const TVector3<S>& v2);
+ 
+ template <typename S>
+-FCL_EXPORT
+ TVector3<S> operator - (const Vector3<S>& v1, const TVector3<S>& v2);
+ 
+ } // namespace fcl
+diff --git a/include/fcl/math/motion/taylor_model/time_interval.h b/include/fcl/math/motion/taylor_model/time_interval.h
+index 1320d9c..49c686a 100644
+--- a/include/fcl/math/motion/taylor_model/time_interval.h
++++ b/include/fcl/math/motion/taylor_model/time_interval.h
+@@ -47,7 +47,7 @@ namespace fcl
+ {
+ 
+ template <typename S>
+-struct FCL_EXPORT TimeInterval
++struct TimeInterval
+ {
+   /// @brief time Interval<S> and different powers
+   Interval<S> t_; // [t1, t2]
+diff --git a/include/fcl/math/motion/tbv_motion_bound_visitor.h b/include/fcl/math/motion/tbv_motion_bound_visitor.h
+index 515fef8..05c947c 100644
+--- a/include/fcl/math/motion/tbv_motion_bound_visitor.h
++++ b/include/fcl/math/motion/tbv_motion_bound_visitor.h
+@@ -62,7 +62,7 @@ template <typename S>
+ class TranslationMotion;
+ 
+ template<typename BV>
+-class FCL_EXPORT TBVMotionBoundVisitor : public BVMotionBoundVisitor<typename BV::S>
++class TBVMotionBoundVisitor : public BVMotionBoundVisitor<typename BV::S>
+ {
+ public:
+   using S = typename BV::S;
+diff --git a/include/fcl/math/motion/translation_motion-inl.h b/include/fcl/math/motion/translation_motion-inl.h
+index a2aaf6c..7feffd1 100644
+--- a/include/fcl/math/motion/translation_motion-inl.h
++++ b/include/fcl/math/motion/translation_motion-inl.h
+@@ -47,7 +47,7 @@ namespace fcl
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT TranslationMotion<double>;
++class TranslationMotion<double>;
+ 
+ //==============================================================================
+ template <typename S>
+diff --git a/include/fcl/math/motion/translation_motion.h b/include/fcl/math/motion/translation_motion.h
+index 37b77b4..ff2a1ff 100644
+--- a/include/fcl/math/motion/translation_motion.h
++++ b/include/fcl/math/motion/translation_motion.h
+@@ -46,7 +46,7 @@ namespace fcl
+ {
+ 
+ template <typename S>
+-class FCL_EXPORT TranslationMotion : public MotionBase<S>
++class TranslationMotion : public MotionBase<S>
+ {
+ public:
+   /// @brief Construct motion from intial and goal transform
+diff --git a/include/fcl/math/motion/triangle_motion_bound_visitor-inl.h b/include/fcl/math/motion/triangle_motion_bound_visitor-inl.h
+index 59f37cb..2f7dd34 100644
+--- a/include/fcl/math/motion/triangle_motion_bound_visitor-inl.h
++++ b/include/fcl/math/motion/triangle_motion_bound_visitor-inl.h
+@@ -51,7 +51,7 @@ namespace fcl
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT TriangleMotionBoundVisitor<double>;
++class TriangleMotionBoundVisitor<double>;
+ 
+ //==============================================================================
+ template<typename S>
+diff --git a/include/fcl/math/motion/triangle_motion_bound_visitor.h b/include/fcl/math/motion/triangle_motion_bound_visitor.h
+index e6a3b7d..c37a206 100644
+--- a/include/fcl/math/motion/triangle_motion_bound_visitor.h
++++ b/include/fcl/math/motion/triangle_motion_bound_visitor.h
+@@ -71,7 +71,7 @@ template <typename, typename>
+ struct TriangleMotionBoundVisitorVisitImpl;
+ 
+ template <typename S>
+-class FCL_EXPORT TriangleMotionBoundVisitor
++class TriangleMotionBoundVisitor
+ {
+ public:
+   TriangleMotionBoundVisitor(
+diff --git a/include/fcl/math/rng-inl.h b/include/fcl/math/rng-inl.h
+index 8877c48..10b9ed8 100644
+--- a/include/fcl/math/rng-inl.h
++++ b/include/fcl/math/rng-inl.h
+@@ -45,7 +45,7 @@ namespace fcl
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT RNG<double>;
++class RNG<double>;
+ 
+ //==============================================================================
+ template <typename S>
+diff --git a/include/fcl/math/rng.h b/include/fcl/math/rng.h
+index 782cf48..827c0ea 100644
+--- a/include/fcl/math/rng.h
++++ b/include/fcl/math/rng.h
+@@ -55,7 +55,7 @@ namespace fcl
+ /// threads. It is also guaranteed that all created instances will
+ /// have a different random seed.
+ template <typename S>
+-class FCL_EXPORT RNG
++class RNG
+ {
+ public:
+   /// @brief Constructor. Always sets a different random seed
+diff --git a/include/fcl/math/sampler/sampler_base.h b/include/fcl/math/sampler/sampler_base.h
+index d49d8c9..30bd153 100644
+--- a/include/fcl/math/sampler/sampler_base.h
++++ b/include/fcl/math/sampler/sampler_base.h
+@@ -44,7 +44,7 @@ namespace fcl
+ {
+ 
+ template <typename S>
+-class FCL_EXPORT SamplerBase
++class SamplerBase
+ {
+ public:
+   mutable RNG<S> rng;
+diff --git a/include/fcl/math/sampler/sampler_r.h b/include/fcl/math/sampler/sampler_r.h
+index 9b19776..44eed46 100644
+--- a/include/fcl/math/sampler/sampler_r.h
++++ b/include/fcl/math/sampler/sampler_r.h
+@@ -46,7 +46,7 @@ namespace fcl
+ {
+ 
+ template <typename S, std::size_t N>
+-class FCL_EXPORT SamplerR : public SamplerBase<S>
++class SamplerR : public SamplerBase<S>
+ {
+ public:
+   SamplerR();
+diff --git a/include/fcl/math/sampler/sampler_se2-inl.h b/include/fcl/math/sampler/sampler_se2-inl.h
+index aa3cb9a..27d6471 100644
+--- a/include/fcl/math/sampler/sampler_se2-inl.h
++++ b/include/fcl/math/sampler/sampler_se2-inl.h
+@@ -45,7 +45,7 @@ namespace fcl
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT SamplerSE2<double>;
++class SamplerSE2<double>;
+ 
+ //==============================================================================
+ template <typename S>
+diff --git a/include/fcl/math/sampler/sampler_se2.h b/include/fcl/math/sampler/sampler_se2.h
+index ff321e7..be626a5 100644
+--- a/include/fcl/math/sampler/sampler_se2.h
++++ b/include/fcl/math/sampler/sampler_se2.h
+@@ -45,7 +45,7 @@ namespace fcl
+ {
+ 
+ template <typename S>
+-class FCL_EXPORT SamplerSE2 : public SamplerBase<S>
++class SamplerSE2 : public SamplerBase<S>
+ {
+ public:
+   SamplerSE2();
+diff --git a/include/fcl/math/sampler/sampler_se2_disk-inl.h b/include/fcl/math/sampler/sampler_se2_disk-inl.h
+index 64aa256..d074c77 100644
+--- a/include/fcl/math/sampler/sampler_se2_disk-inl.h
++++ b/include/fcl/math/sampler/sampler_se2_disk-inl.h
+@@ -45,7 +45,7 @@ namespace fcl
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT SamplerSE2_disk<double>;
++class SamplerSE2_disk<double>;
+ 
+ //==============================================================================
+ template <typename S>
+diff --git a/include/fcl/math/sampler/sampler_se2_disk.h b/include/fcl/math/sampler/sampler_se2_disk.h
+index 154110b..eed432d 100644
+--- a/include/fcl/math/sampler/sampler_se2_disk.h
++++ b/include/fcl/math/sampler/sampler_se2_disk.h
+@@ -45,7 +45,7 @@ namespace fcl
+ {
+ 
+ template <typename S>
+-class FCL_EXPORT SamplerSE2_disk : public SamplerBase<S>
++class SamplerSE2_disk : public SamplerBase<S>
+ {
+ public:
+   SamplerSE2_disk();
+diff --git a/include/fcl/math/sampler/sampler_se3_euler-inl.h b/include/fcl/math/sampler/sampler_se3_euler-inl.h
+index 14ff1b8..98d5b91 100644
+--- a/include/fcl/math/sampler/sampler_se3_euler-inl.h
++++ b/include/fcl/math/sampler/sampler_se3_euler-inl.h
+@@ -45,7 +45,7 @@ namespace fcl
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT SamplerSE3Euler<double>;
++class SamplerSE3Euler<double>;
+ 
+ //==============================================================================
+ template <typename S>
+diff --git a/include/fcl/math/sampler/sampler_se3_euler.h b/include/fcl/math/sampler/sampler_se3_euler.h
+index 487e22a..5ec8d92 100644
+--- a/include/fcl/math/sampler/sampler_se3_euler.h
++++ b/include/fcl/math/sampler/sampler_se3_euler.h
+@@ -45,7 +45,7 @@ namespace fcl
+ {
+ 
+ template <typename S>
+-class FCL_EXPORT SamplerSE3Euler : public SamplerBase<S>
++class SamplerSE3Euler : public SamplerBase<S>
+ {
+ public:
+   SamplerSE3Euler();
+diff --git a/include/fcl/math/sampler/sampler_se3_euler_ball-inl.h b/include/fcl/math/sampler/sampler_se3_euler_ball-inl.h
+index 48dc6d9..3a940c2 100644
+--- a/include/fcl/math/sampler/sampler_se3_euler_ball-inl.h
++++ b/include/fcl/math/sampler/sampler_se3_euler_ball-inl.h
+@@ -45,7 +45,7 @@ namespace fcl
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT SamplerSE3Euler_ball<double>;
++class SamplerSE3Euler_ball<double>;
+ 
+ //==============================================================================
+ template <typename S>
+diff --git a/include/fcl/math/sampler/sampler_se3_euler_ball.h b/include/fcl/math/sampler/sampler_se3_euler_ball.h
+index 616e0b7..137d766 100644
+--- a/include/fcl/math/sampler/sampler_se3_euler_ball.h
++++ b/include/fcl/math/sampler/sampler_se3_euler_ball.h
+@@ -45,7 +45,7 @@ namespace fcl
+ {
+ 
+ template <typename S>
+-class FCL_EXPORT SamplerSE3Euler_ball : public SamplerBase<S>
++class SamplerSE3Euler_ball : public SamplerBase<S>
+ {
+ public:
+   SamplerSE3Euler_ball();
+diff --git a/include/fcl/math/sampler/sampler_se3_quat-inl.h b/include/fcl/math/sampler/sampler_se3_quat-inl.h
+index ed961ab..725e27e 100644
+--- a/include/fcl/math/sampler/sampler_se3_quat-inl.h
++++ b/include/fcl/math/sampler/sampler_se3_quat-inl.h
+@@ -45,7 +45,7 @@ namespace fcl
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT SamplerSE3Quat<double>;
++class SamplerSE3Quat<double>;
+ 
+ //==============================================================================
+ template <typename S>
+diff --git a/include/fcl/math/sampler/sampler_se3_quat.h b/include/fcl/math/sampler/sampler_se3_quat.h
+index 3c2ae98..0f0a9b4 100644
+--- a/include/fcl/math/sampler/sampler_se3_quat.h
++++ b/include/fcl/math/sampler/sampler_se3_quat.h
+@@ -45,7 +45,7 @@ namespace fcl
+ {
+ 
+ template <typename S>
+-class FCL_EXPORT SamplerSE3Quat : public SamplerBase<S>
++class SamplerSE3Quat : public SamplerBase<S>
+ {
+ public:
+   SamplerSE3Quat();
+diff --git a/include/fcl/math/sampler/sampler_se3_quat_ball-inl.h b/include/fcl/math/sampler/sampler_se3_quat_ball-inl.h
+index 6a13b91..92f79be 100644
+--- a/include/fcl/math/sampler/sampler_se3_quat_ball-inl.h
++++ b/include/fcl/math/sampler/sampler_se3_quat_ball-inl.h
+@@ -45,7 +45,7 @@ namespace fcl
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT SamplerSE3Quat_ball<double>;
++class SamplerSE3Quat_ball<double>;
+ 
+ //==============================================================================
+ template <typename S>
+diff --git a/include/fcl/math/sampler/sampler_se3_quat_ball.h b/include/fcl/math/sampler/sampler_se3_quat_ball.h
+index 9fef44c..42a527d 100644
+--- a/include/fcl/math/sampler/sampler_se3_quat_ball.h
++++ b/include/fcl/math/sampler/sampler_se3_quat_ball.h
+@@ -45,7 +45,7 @@ namespace fcl
+ {
+ 
+ template <typename S>
+-class FCL_EXPORT SamplerSE3Quat_ball : public SamplerBase<S>
++class SamplerSE3Quat_ball : public SamplerBase<S>
+ {
+ public:
+   SamplerSE3Quat_ball();
+diff --git a/include/fcl/math/variance3-inl.h b/include/fcl/math/variance3-inl.h
+index dea5340..b39c6f4 100644
+--- a/include/fcl/math/variance3-inl.h
++++ b/include/fcl/math/variance3-inl.h
+@@ -45,7 +45,7 @@ namespace fcl
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT Variance3<double>;
++class Variance3<double>;
+ 
+ //==============================================================================
+ template <typename S>
+diff --git a/include/fcl/math/variance3.h b/include/fcl/math/variance3.h
+index b593820..0bdb905 100644
+--- a/include/fcl/math/variance3.h
++++ b/include/fcl/math/variance3.h
+@@ -48,7 +48,7 @@ namespace fcl
+ 
+ /// @brief Class for variance matrix in 3d
+ template <typename S>
+-class FCL_EXPORT Variance3
++class Variance3
+ {
+ public:
+   /// @brief Variation matrix
+diff --git a/include/fcl/narrowphase/collision-inl.h b/include/fcl/narrowphase/collision-inl.h
+index 69f4c2c..15dcc10 100644
+--- a/include/fcl/narrowphase/collision-inl.h
++++ b/include/fcl/narrowphase/collision-inl.h
+@@ -77,7 +77,6 @@ detail::CollisionFunctionMatrix<GJKSolver>& getCollisionFunctionLookTable()
+ 
+ //==============================================================================
+ template <typename S, typename NarrowPhaseSolver>
+-FCL_EXPORT
+ std::size_t collide(
+     const CollisionObject<S>* o1,
+     const CollisionObject<S>* o2,
+@@ -91,7 +90,6 @@ std::size_t collide(
+ 
+ //==============================================================================
+ template <typename S, typename NarrowPhaseSolver>
+-FCL_EXPORT
+ std::size_t collide(
+     const CollisionGeometry<S>* o1,
+     const Transform3<S>& tf1,
+@@ -150,7 +148,6 @@ std::size_t collide(
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ std::size_t collide(const CollisionObject<S>* o1, const CollisionObject<S>* o2,
+                     const CollisionRequest<S>& request, CollisionResult<S>& result)
+ {
+@@ -176,7 +173,6 @@ std::size_t collide(const CollisionObject<S>* o1, const CollisionObject<S>* o2,
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ std::size_t collide(
+     const CollisionGeometry<S>* o1,
+     const Transform3<S>& tf1,
+diff --git a/include/fcl/narrowphase/collision.h b/include/fcl/narrowphase/collision.h
+index f6e361e..960e624 100644
+--- a/include/fcl/narrowphase/collision.h
++++ b/include/fcl/narrowphase/collision.h
+@@ -53,13 +53,11 @@ namespace fcl
+ /// performs the collision between them. Return value is the number of contacts
+ /// generated between the two objects.
+ template <typename S>
+-FCL_EXPORT
+ std::size_t collide(const CollisionObject<S>* o1, const CollisionObject<S>* o2,
+                     const CollisionRequest<S>& request,
+                     CollisionResult<S>& result);
+ 
+ template <typename S>
+-FCL_EXPORT
+ std::size_t collide(const CollisionGeometry<S>* o1, const Transform3<S>& tf1,
+                     const CollisionGeometry<S>* o2, const Transform3<S>& tf2,
+                     const CollisionRequest<S>& request,
+diff --git a/include/fcl/narrowphase/collision_object-inl.h b/include/fcl/narrowphase/collision_object-inl.h
+index 0c50e52..2f5f481 100644
+--- a/include/fcl/narrowphase/collision_object-inl.h
++++ b/include/fcl/narrowphase/collision_object-inl.h
+@@ -45,7 +45,7 @@ namespace fcl
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT CollisionObject<double>;
++class CollisionObject<double>;
+ 
+ //==============================================================================
+ template <typename S>
+diff --git a/include/fcl/narrowphase/collision_object.h b/include/fcl/narrowphase/collision_object.h
+index bef211a..120bcbc 100644
+--- a/include/fcl/narrowphase/collision_object.h
++++ b/include/fcl/narrowphase/collision_object.h
+@@ -48,7 +48,7 @@ namespace fcl
+ /// @brief the object for collision or distance computation, contains the
+ /// geometry and the transform information
+ template <typename S>
+-class FCL_EXPORT CollisionObject
++class CollisionObject
+ {
+ public:
+   CollisionObject(const std::shared_ptr<CollisionGeometry<S>>& cgeom);
+diff --git a/include/fcl/narrowphase/collision_request.h b/include/fcl/narrowphase/collision_request.h
+index 3341714..b1604f4 100644
+--- a/include/fcl/narrowphase/collision_request.h
++++ b/include/fcl/narrowphase/collision_request.h
+@@ -49,7 +49,7 @@ struct CollisionResult;
+ 
+ /// @brief Parameters for performing collision request.
+ template <typename S>
+-struct FCL_EXPORT CollisionRequest
++struct CollisionRequest
+ {
+   /// The underlying numerical representation of the request's scalar (e.g.,
+   /// float or double).
+diff --git a/include/fcl/narrowphase/collision_result.h b/include/fcl/narrowphase/collision_result.h
+index a0d3677..8ce60cf 100644
+--- a/include/fcl/narrowphase/collision_result.h
++++ b/include/fcl/narrowphase/collision_result.h
+@@ -49,7 +49,7 @@ namespace fcl
+ 
+ /// @brief collision result
+ template <typename S>
+-struct FCL_EXPORT CollisionResult
++struct CollisionResult
+ {
+ private:
+   /// @brief contact information
+diff --git a/include/fcl/narrowphase/contact.h b/include/fcl/narrowphase/contact.h
+index eaa9b2f..343a443 100644
+--- a/include/fcl/narrowphase/contact.h
++++ b/include/fcl/narrowphase/contact.h
+@@ -45,7 +45,7 @@ namespace fcl
+ 
+ /// @brief Contact information returned by collision
+ template <typename S>
+-struct FCL_EXPORT Contact
++struct Contact
+ {
+   /// @brief collision object 1
+   const CollisionGeometry<S>* o1;
+diff --git a/include/fcl/narrowphase/contact_point.h b/include/fcl/narrowphase/contact_point.h
+index bca98e6..c917d69 100644
+--- a/include/fcl/narrowphase/contact_point.h
++++ b/include/fcl/narrowphase/contact_point.h
+@@ -45,7 +45,7 @@ namespace fcl
+ 
+ /// @brief Minimal contact information returned by collision
+ template <typename S>
+-struct FCL_EXPORT ContactPoint
++struct ContactPoint
+ {
+   /// @brief Contact normal, pointing from o1 to o2
+   Vector3<S> normal;
+@@ -68,12 +68,10 @@ using ContactPointd = ContactPoint<double>;
+ 
+ /// @brief Return true if _cp1's penentration depth is less than _cp2's.
+ template <typename S>
+-FCL_EXPORT
+ bool comparePenDepth(
+     const ContactPoint<S>& _cp1, const ContactPoint<S>& _cp2);
+ 
+ template <typename S>
+-FCL_EXPORT
+ void flipNormal(std::vector<ContactPoint<S>>& contacts);
+ 
+ } // namespace fcl
+diff --git a/include/fcl/narrowphase/continuous_collision-inl.h b/include/fcl/narrowphase/continuous_collision-inl.h
+index b24d0b8..9371f19 100644
+--- a/include/fcl/narrowphase/continuous_collision-inl.h
++++ b/include/fcl/narrowphase/continuous_collision-inl.h
+@@ -105,7 +105,6 @@ getConservativeAdvancementFunctionLookTable()
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ MotionBasePtr<S> getMotionBase(
+     const Transform3<S>& tf_beg,
+     const Transform3<S>& tf_end,
+@@ -132,7 +131,6 @@ MotionBasePtr<S> getMotionBase(
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ S continuousCollideNaive(
+     const CollisionGeometry<S>* o1,
+     const MotionBase<S>* motion1,
+@@ -175,7 +173,6 @@ namespace detail
+ 
+ //==============================================================================
+ template<typename BV>
+-FCL_EXPORT
+ typename BV::S continuousCollideBVHPolynomial(
+     const CollisionGeometry<typename BV::S>* o1_,
+     const TranslationMotion<typename BV::S>* motion1,
+@@ -244,7 +241,6 @@ typename BV::S continuousCollideBVHPolynomial(
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ S continuousCollideBVHPolynomial(
+     const CollisionGeometry<S>* o1,
+     const TranslationMotion<S>* motion1,
+@@ -301,7 +297,6 @@ namespace detail
+ 
+ //==============================================================================
+ template<typename NarrowPhaseSolver>
+-FCL_EXPORT
+ typename NarrowPhaseSolver::S continuousCollideConservativeAdvancement(
+     const CollisionGeometry<typename NarrowPhaseSolver::S>* o1,
+     const MotionBase<typename NarrowPhaseSolver::S>* motion1,
+@@ -355,7 +350,6 @@ typename NarrowPhaseSolver::S continuousCollideConservativeAdvancement(
+ } // namespace detail
+ 
+ template <typename S>
+-FCL_EXPORT
+ S continuousCollideConservativeAdvancement(
+     const CollisionGeometry<S>* o1,
+     const MotionBase<S>* motion1,
+@@ -383,7 +377,6 @@ S continuousCollideConservativeAdvancement(
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ S continuousCollide(
+     const CollisionGeometry<S>* o1,
+     const MotionBase<S>* motion1,
+@@ -433,7 +426,6 @@ S continuousCollide(
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ S continuousCollide(
+     const CollisionGeometry<S>* o1,
+     const Transform3<S>& tf1_beg,
+@@ -452,7 +444,6 @@ S continuousCollide(
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ S continuousCollide(
+     const CollisionObject<S>* o1,
+     const Transform3<S>& tf1_end,
+@@ -468,7 +459,6 @@ S continuousCollide(
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ S collide(
+     const ContinuousCollisionObject<S>* o1,
+     const ContinuousCollisionObject<S>* o2,
+diff --git a/include/fcl/narrowphase/continuous_collision.h b/include/fcl/narrowphase/continuous_collision.h
+index fb1cab6..fe02b38 100644
+--- a/include/fcl/narrowphase/continuous_collision.h
++++ b/include/fcl/narrowphase/continuous_collision.h
+@@ -51,7 +51,6 @@ namespace fcl
+ 
+ /// @brief continous collision checking between two objects
+ template <typename S>
+-FCL_EXPORT
+ S continuousCollide(
+     const CollisionGeometry<S>* o1,
+     const MotionBase<S>* motion1,
+@@ -61,7 +60,6 @@ S continuousCollide(
+     ContinuousCollisionResult<S>& result);
+ 
+ template <typename S>
+-FCL_EXPORT
+ S continuousCollide(
+     const CollisionGeometry<S>* o1,
+     const Transform3<S>& tf1_beg,
+@@ -73,7 +71,6 @@ S continuousCollide(
+     ContinuousCollisionResult<S>& result);
+ 
+ template <typename S>
+-FCL_EXPORT
+ S continuousCollide(
+     const CollisionObject<S>* o1,
+     const Transform3<S>& tf1_end,
+@@ -83,7 +80,6 @@ S continuousCollide(
+     ContinuousCollisionResult<S>& result);
+ 
+ template <typename S>
+-FCL_EXPORT
+ S collide(
+     const ContinuousCollisionObject<S>* o1,
+     const ContinuousCollisionObject<S>* o2,
+diff --git a/include/fcl/narrowphase/continuous_collision_object-inl.h b/include/fcl/narrowphase/continuous_collision_object-inl.h
+index e8008e9..b641a6c 100644
+--- a/include/fcl/narrowphase/continuous_collision_object-inl.h
++++ b/include/fcl/narrowphase/continuous_collision_object-inl.h
+@@ -45,7 +45,7 @@ namespace fcl
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT ContinuousCollisionObject<double>;
++class ContinuousCollisionObject<double>;
+ 
+ //==============================================================================
+ template <typename S>
+diff --git a/include/fcl/narrowphase/continuous_collision_object.h b/include/fcl/narrowphase/continuous_collision_object.h
+index ecb12c4..60b8741 100644
+--- a/include/fcl/narrowphase/continuous_collision_object.h
++++ b/include/fcl/narrowphase/continuous_collision_object.h
+@@ -48,7 +48,7 @@ namespace fcl
+ /// @brief the object for continuous collision or distance computation, contains
+ /// the geometry and the motion information
+ template <typename S>
+-class FCL_EXPORT ContinuousCollisionObject
++class ContinuousCollisionObject
+ {
+ public:
+   ContinuousCollisionObject(
+diff --git a/include/fcl/narrowphase/continuous_collision_request.h b/include/fcl/narrowphase/continuous_collision_request.h
+index 356be14..518b095 100644
+--- a/include/fcl/narrowphase/continuous_collision_request.h
++++ b/include/fcl/narrowphase/continuous_collision_request.h
+@@ -49,7 +49,7 @@ enum CCDMotionType {CCDM_TRANS, CCDM_LINEAR, CCDM_SCREW, CCDM_SPLINE};
+ enum CCDSolverType {CCDC_NAIVE, CCDC_CONSERVATIVE_ADVANCEMENT, CCDC_RAY_SHOOTING, CCDC_POLYNOMIAL_SOLVER};
+ 
+ template <typename S>
+-struct FCL_EXPORT ContinuousCollisionRequest
++struct ContinuousCollisionRequest
+ {
+   /// @brief maximum num of iterations
+   std::size_t num_max_iterations;
+diff --git a/include/fcl/narrowphase/continuous_collision_result.h b/include/fcl/narrowphase/continuous_collision_result.h
+index e19bf69..8e5f833 100644
+--- a/include/fcl/narrowphase/continuous_collision_result.h
++++ b/include/fcl/narrowphase/continuous_collision_result.h
+@@ -45,7 +45,7 @@ namespace fcl
+ 
+ /// @brief continuous collision result
+ template <typename S>
+-struct FCL_EXPORT ContinuousCollisionResult
++struct ContinuousCollisionResult
+ {
+   /// @brief collision or not
+   bool is_collide;
+diff --git a/include/fcl/narrowphase/cost_source.h b/include/fcl/narrowphase/cost_source.h
+index 15bc111..66f072a 100644
+--- a/include/fcl/narrowphase/cost_source.h
++++ b/include/fcl/narrowphase/cost_source.h
+@@ -46,7 +46,7 @@ namespace fcl
+ 
+ /// @brief Cost source describes an area with a cost. The area is described by an AABB<S> region.
+ template <typename S>
+-struct FCL_EXPORT CostSource
++struct CostSource
+ {
+   /// @brief aabb lower bound
+   Vector3<S> aabb_min;
+diff --git a/include/fcl/narrowphase/detail/convexity_based_algorithm/epa.h b/include/fcl/narrowphase/detail/convexity_based_algorithm/epa.h
+index eb7efa4..131dc7a 100644
+--- a/include/fcl/narrowphase/detail/convexity_based_algorithm/epa.h
++++ b/include/fcl/narrowphase/detail/convexity_based_algorithm/epa.h
+@@ -54,7 +54,7 @@ namespace detail
+ 
+ /// @brief class for EPA algorithm
+ template <typename S>
+-struct FCL_EXPORT EPA
++struct EPA
+ {
+ private:
+   using SimplexV = typename GJK<S>::SimplexV;
+diff --git a/include/fcl/narrowphase/detail/convexity_based_algorithm/gjk.h b/include/fcl/narrowphase/detail/convexity_based_algorithm/gjk.h
+index f5bbc21..7949bba 100644
+--- a/include/fcl/narrowphase/detail/convexity_based_algorithm/gjk.h
++++ b/include/fcl/narrowphase/detail/convexity_based_algorithm/gjk.h
+@@ -49,7 +49,7 @@ namespace detail
+ 
+ /// @brief class for GJK algorithm
+ template <typename S>
+-struct FCL_EXPORT GJK
++struct GJK
+ {
+   struct SimplexV
+   {
+diff --git a/include/fcl/narrowphase/detail/convexity_based_algorithm/gjk_libccd-inl.h b/include/fcl/narrowphase/detail/convexity_based_algorithm/gjk_libccd-inl.h
+index 60fd0ad..f6e9a3b 100644
+--- a/include/fcl/narrowphase/detail/convexity_based_algorithm/gjk_libccd-inl.h
++++ b/include/fcl/narrowphase/detail/convexity_based_algorithm/gjk_libccd-inl.h
+@@ -56,31 +56,31 @@ namespace detail
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT GJKInitializer<double, Cylinder<double>>;
++class GJKInitializer<double, Cylinder<double>>;
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT GJKInitializer<double, Sphere<double>>;
++class GJKInitializer<double, Sphere<double>>;
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT GJKInitializer<double, Ellipsoid<double>>;
++class GJKInitializer<double, Ellipsoid<double>>;
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT GJKInitializer<double, Box<double>>;
++class GJKInitializer<double, Box<double>>;
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT GJKInitializer<double, Capsule<double>>;
++class GJKInitializer<double, Capsule<double>>;
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT GJKInitializer<double, Cone<double>>;
++class GJKInitializer<double, Cone<double>>;
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT GJKInitializer<double, Convex<double>>;
++class GJKInitializer<double, Convex<double>>;
+ 
+ //==============================================================================
+ extern template
+diff --git a/include/fcl/narrowphase/detail/convexity_based_algorithm/gjk_libccd.h b/include/fcl/narrowphase/detail/convexity_based_algorithm/gjk_libccd.h
+index c222748..3bcecd3 100644
+--- a/include/fcl/narrowphase/detail/convexity_based_algorithm/gjk_libccd.h
++++ b/include/fcl/narrowphase/detail/convexity_based_algorithm/gjk_libccd.h
+@@ -73,7 +73,7 @@ using GJKCenterFunction = void (*)(const void* obj, ccd_vec3_t* c);
+ 
+ /// @brief initialize GJK stuffs
+ template <typename S, typename T>
+-class FCL_EXPORT GJKInitializer
++class GJKInitializer
+ {
+ public:
+   /// @brief Get GJK support function
+@@ -93,7 +93,7 @@ public:
+ 
+ /// @brief initialize GJK Cylinder<S>
+ template <typename S>
+-class FCL_EXPORT GJKInitializer<S, Cylinder<S>>
++class GJKInitializer<S, Cylinder<S>>
+ {
+ public:
+   static GJKSupportFunction getSupportFunction();
+@@ -104,7 +104,7 @@ public:
+ 
+ /// @brief initialize GJK Sphere<S>
+ template <typename S>
+-class FCL_EXPORT GJKInitializer<S, Sphere<S>>
++class GJKInitializer<S, Sphere<S>>
+ {
+ public:
+   static GJKSupportFunction getSupportFunction();
+@@ -115,7 +115,7 @@ public:
+ 
+ /// @brief initialize GJK Ellipsoid<S>
+ template <typename S>
+-class FCL_EXPORT GJKInitializer<S, Ellipsoid<S>>
++class GJKInitializer<S, Ellipsoid<S>>
+ {
+ public:
+   static GJKSupportFunction getSupportFunction();
+@@ -126,7 +126,7 @@ public:
+ 
+ /// @brief initialize GJK Box<S>
+ template <typename S>
+-class FCL_EXPORT GJKInitializer<S, Box<S>>
++class GJKInitializer<S, Box<S>>
+ {
+ public:
+   static GJKSupportFunction getSupportFunction();
+@@ -137,7 +137,7 @@ public:
+ 
+ /// @brief initialize GJK Capsule<S>
+ template <typename S>
+-class FCL_EXPORT GJKInitializer<S, Capsule<S>>
++class GJKInitializer<S, Capsule<S>>
+ {
+ public:
+   static GJKSupportFunction getSupportFunction();
+@@ -148,7 +148,7 @@ public:
+ 
+ /// @brief initialize GJK Cone<S>
+ template <typename S>
+-class FCL_EXPORT GJKInitializer<S, Cone<S>>
++class GJKInitializer<S, Cone<S>>
+ {
+ public:
+   static GJKSupportFunction getSupportFunction();
+@@ -159,7 +159,7 @@ public:
+ 
+ /// @brief initialize GJK Convex<S>
+ template <typename S>
+-class FCL_EXPORT GJKInitializer<S, Convex<S>>
++class GJKInitializer<S, Convex<S>>
+ {
+ public:
+   static GJKSupportFunction getSupportFunction();
+@@ -176,11 +176,9 @@ FCL_EXPORT
+ GJKCenterFunction triGetCenterFunction();
+ 
+ template <typename S>
+-FCL_EXPORT
+ void* triCreateGJKObject(const Vector3<S>& P1, const Vector3<S>& P2, const Vector3<S>& P3);
+ 
+ template <typename S>
+-FCL_EXPORT
+ void* triCreateGJKObject(const Vector3<S>& P1, const Vector3<S>& P2, const Vector3<S>& P3, const Transform3<S>& tf);
+ 
+ FCL_EXPORT
+@@ -188,7 +186,6 @@ void triDeleteGJKObject(void* o);
+ 
+ /// @brief GJK collision algorithm
+ template <typename S>
+-FCL_EXPORT
+ bool GJKCollide(
+     void* obj1,
+     ccd_support_fn supp1,
+@@ -221,7 +218,6 @@ bool GJKCollide(
+  * @retval is_separated True if the objects are separated, false otherwise.
+  */
+ template <typename S>
+-FCL_EXPORT
+ bool GJKDistance(void* obj1, ccd_support_fn supp1,
+                  void* obj2, ccd_support_fn supp2,
+                  unsigned int max_iterations, S tolerance,
+@@ -247,7 +243,6 @@ bool GJKDistance(void* obj1, ccd_support_fn supp1,
+  * @retval is_separated True if the objects are separated, false otherwise.
+  */
+ template <typename S>
+-FCL_EXPORT
+ bool GJKSignedDistance(void* obj1, ccd_support_fn supp1,
+                        void* obj2, ccd_support_fn supp2,
+                        unsigned int max_iterations, S tolerance,
+diff --git a/include/fcl/narrowphase/detail/convexity_based_algorithm/minkowski_diff-inl.h b/include/fcl/narrowphase/detail/convexity_based_algorithm/minkowski_diff-inl.h
+index 9f1309e..02d5643 100644
+--- a/include/fcl/narrowphase/detail/convexity_based_algorithm/minkowski_diff-inl.h
++++ b/include/fcl/narrowphase/detail/convexity_based_algorithm/minkowski_diff-inl.h
+@@ -63,7 +63,6 @@ struct MinkowskiDiff<double>;
+ 
+ //==============================================================================
+ template <typename S, typename Derived>
+-FCL_EXPORT
+ Vector3<S> getSupport(
+     const ShapeBase<S>* shape,
+     const Eigen::MatrixBase<Derived>& dir)
+diff --git a/include/fcl/narrowphase/detail/convexity_based_algorithm/minkowski_diff.h b/include/fcl/narrowphase/detail/convexity_based_algorithm/minkowski_diff.h
+index a1ee9c7..6e073ac 100644
+--- a/include/fcl/narrowphase/detail/convexity_based_algorithm/minkowski_diff.h
++++ b/include/fcl/narrowphase/detail/convexity_based_algorithm/minkowski_diff.h
+@@ -55,7 +55,7 @@ Vector3<S> getSupport(
+ 
+ /// @brief Minkowski difference class of two shapes
+ template <typename S>
+-struct FCL_EXPORT MinkowskiDiff
++struct MinkowskiDiff
+ {
+   /// @brief points to two shapes
+   const ShapeBase<S>* shapes[2];
+diff --git a/include/fcl/narrowphase/detail/gjk_solver_indep.h b/include/fcl/narrowphase/detail/gjk_solver_indep.h
+index 44ed514..666e9c9 100755
+--- a/include/fcl/narrowphase/detail/gjk_solver_indep.h
++++ b/include/fcl/narrowphase/detail/gjk_solver_indep.h
+@@ -51,7 +51,7 @@ namespace detail
+ 
+ /// @brief collision and distance solver based on GJK algorithm implemented in fcl (rewritten the code from the GJK in bullet)
+ template <typename S_>
+-struct FCL_EXPORT GJKSolver_indep
++struct GJKSolver_indep
+ {
+   using S = S_;
+ 
+diff --git a/include/fcl/narrowphase/detail/gjk_solver_libccd.h b/include/fcl/narrowphase/detail/gjk_solver_libccd.h
+index 218a894..1b6b2c3 100755
+--- a/include/fcl/narrowphase/detail/gjk_solver_libccd.h
++++ b/include/fcl/narrowphase/detail/gjk_solver_libccd.h
+@@ -51,7 +51,7 @@ namespace detail
+ 
+ /// @brief collision and distance solver based on libccd library.
+ template <typename S_>
+-struct FCL_EXPORT GJKSolver_libccd
++struct GJKSolver_libccd
+ {
+   using S = S_;
+ 
+diff --git a/include/fcl/narrowphase/detail/primitive_shape_algorithm/box_box.h b/include/fcl/narrowphase/detail/primitive_shape_algorithm/box_box.h
+index 87a6084..d7be734 100755
+--- a/include/fcl/narrowphase/detail/primitive_shape_algorithm/box_box.h
++++ b/include/fcl/narrowphase/detail/primitive_shape_algorithm/box_box.h
+@@ -49,7 +49,6 @@ namespace detail
+ {
+ 
+ template <typename S>
+-FCL_EXPORT
+ void lineClosestApproach(const Vector3<S>& pa, const Vector3<S>& ua,
+                          const Vector3<S>& pb, const Vector3<S>& ub,
+                          S* alpha, S* beta);
+@@ -62,7 +61,6 @@ void lineClosestApproach(const Vector3<S>& pa, const Vector3<S>& ua,
+ // the number of intersection points is returned by the function (this will
+ // be in the range 0 to 8).
+ template <typename S>
+-FCL_EXPORT
+ int intersectRectQuad2(S h[2], S p[8], S ret[16]);
+ 
+ // given n points in the plane (array p, of size 2*n), generate m points that
+@@ -73,11 +71,9 @@ int intersectRectQuad2(S h[2], S p[8], S ret[16]);
+ // n must be in the range [1..8]. m must be in the range [1..n]. i0 must be
+ // in the range [0..n-1].
+ template <typename S>
+-FCL_EXPORT
+ void cullPoints2(int n, S p[], int m, int i0, int iret[]);
+ 
+ template <typename S, typename DerivedA, typename DerivedB>
+-FCL_EXPORT
+ int boxBox2(
+     const Vector3<S>& side1,
+     const Eigen::MatrixBase<DerivedA>& R1,
+@@ -92,7 +88,6 @@ int boxBox2(
+     std::vector<ContactPoint<S>>& contacts);
+ 
+ template <typename S>
+-FCL_EXPORT
+ int boxBox2(
+     const Vector3<S>& side1,
+     const Transform3<S>& tf1,
+@@ -105,7 +100,6 @@ int boxBox2(
+     std::vector<ContactPoint<S>>& contacts);
+ 
+ template <typename S>
+-FCL_EXPORT
+ bool boxBoxIntersect(const Box<S>& s1, const Transform3<S>& tf1,
+                      const Box<S>& s2, const Transform3<S>& tf2,
+                      std::vector<ContactPoint<S>>* contacts_);
+diff --git a/include/fcl/narrowphase/detail/primitive_shape_algorithm/capsule_capsule.h b/include/fcl/narrowphase/detail/primitive_shape_algorithm/capsule_capsule.h
+index c391736..34245a6 100644
+--- a/include/fcl/narrowphase/detail/primitive_shape_algorithm/capsule_capsule.h
++++ b/include/fcl/narrowphase/detail/primitive_shape_algorithm/capsule_capsule.h
+@@ -49,7 +49,6 @@ namespace detail
+ 
+ // Clamp n to lie within the range [min, max]
+ template <typename S>
+-FCL_EXPORT
+ S clamp(S n, S min, S max);
+ 
+ /** Computes the pair of closest points `(p_FC1, p_FC2)` between two line
+@@ -73,7 +72,7 @@ S clamp(S n, S min, S max);
+  @tparam S  The scalar type for computation.
+  */
+ template <typename S>
+-FCL_EXPORT S closestPtSegmentSegment(const Vector3<S>& p_FP1,
++S closestPtSegmentSegment(const Vector3<S>& p_FP1,
+                                      const Vector3<S>& p_FQ1,
+                                      const Vector3<S>& p_FP2,
+                                      const Vector3<S>& p_FQ2, S* s, S* t,
+@@ -104,7 +103,6 @@ FCL_EXPORT S closestPtSegmentSegment(const Vector3<S>& p_FP1,
+  @tparam S  The scalar type for computation.
+  */
+ template <typename S>
+-FCL_EXPORT
+ bool capsuleCapsuleDistance(const Capsule<S>& s1, const Transform3<S>& X_FC1,
+           const Capsule<S>& s2, const Transform3<S>& X_FC2,
+           S* dist, Vector3<S>* p_FW1, Vector3<S>* p_FW2);
+diff --git a/include/fcl/narrowphase/detail/primitive_shape_algorithm/halfspace-inl.h b/include/fcl/narrowphase/detail/primitive_shape_algorithm/halfspace-inl.h
+index 09a86f5..039ffb8 100644
+--- a/include/fcl/narrowphase/detail/primitive_shape_algorithm/halfspace-inl.h
++++ b/include/fcl/narrowphase/detail/primitive_shape_algorithm/halfspace-inl.h
+@@ -46,6 +46,12 @@ namespace fcl
+ namespace detail
+ {
+ 
++template <>
++FCL_EXPORT float halfspaceIntersectTolerance();
++
++template <>
++FCL_EXPORT double halfspaceIntersectTolerance();
++
+ //==============================================================================
+ extern template
+ bool sphereHalfspaceIntersect(
+diff --git a/include/fcl/narrowphase/detail/primitive_shape_algorithm/halfspace.h b/include/fcl/narrowphase/detail/primitive_shape_algorithm/halfspace.h
+index 62fda4c..ea5dd2f 100644
+--- a/include/fcl/narrowphase/detail/primitive_shape_algorithm/halfspace.h
++++ b/include/fcl/narrowphase/detail/primitive_shape_algorithm/halfspace.h
+@@ -56,25 +56,14 @@ namespace detail
+ {
+ 
+ template <typename S>
+-FCL_EXPORT
+ S halfspaceIntersectTolerance();
+ 
+-template <>
+-FCL_EXPORT
+-float halfspaceIntersectTolerance();
+-
+-template <>
+-FCL_EXPORT
+-double halfspaceIntersectTolerance();
+-
+ template <typename S>
+-FCL_EXPORT
+ bool sphereHalfspaceIntersect(const Sphere<S>& s1, const Transform3<S>& tf1,
+                               const Halfspace<S>& s2, const Transform3<S>& tf2,
+                               std::vector<ContactPoint<S>>* contacts);
+ 
+ template <typename S>
+-FCL_EXPORT
+ bool ellipsoidHalfspaceIntersect(const Ellipsoid<S>& s1, const Transform3<S>& tf1,
+                                  const Halfspace<S>& s2, const Transform3<S>& tf2,
+                                  std::vector<ContactPoint<S>>* contacts);
+@@ -85,36 +74,30 @@ bool ellipsoidHalfspaceIntersect(const Ellipsoid<S>& s1, const Transform3<S>& tf
+ /// check whether d - n * T - (R^T n) (a v1 + b v2 + c v3) >= 0 for some a, b, c
+ /// the max value of left side is d - n * T + |(R^T n) (a v1 + b v2 + c v3)|, check that is enough
+ template <typename S>
+-FCL_EXPORT
+ bool boxHalfspaceIntersect(const Box<S>& s1, const Transform3<S>& tf1,
+                            const Halfspace<S>& s2, const Transform3<S>& tf2);
+ 
+ template <typename S>
+-FCL_EXPORT
+ bool boxHalfspaceIntersect(const Box<S>& s1, const Transform3<S>& tf1,
+                            const Halfspace<S>& s2, const Transform3<S>& tf2,
+                            std::vector<ContactPoint<S>>* contacts);
+ 
+ template <typename S>
+-FCL_EXPORT
+ bool capsuleHalfspaceIntersect(const Capsule<S>& s1, const Transform3<S>& tf1,
+                                const Halfspace<S>& s2, const Transform3<S>& tf2,
+                                std::vector<ContactPoint<S>>* contacts);
+ 
+ template <typename S>
+-FCL_EXPORT
+ bool cylinderHalfspaceIntersect(const Cylinder<S>& s1, const Transform3<S>& tf1,
+                                 const Halfspace<S>& s2, const Transform3<S>& tf2,
+                                 std::vector<ContactPoint<S>>* contacts);
+ 
+ template <typename S>
+-FCL_EXPORT
+ bool coneHalfspaceIntersect(const Cone<S>& s1, const Transform3<S>& tf1,
+                             const Halfspace<S>& s2, const Transform3<S>& tf2,
+                             std::vector<ContactPoint<S>>* contacts);
+ 
+ template <typename S>
+-FCL_EXPORT
+ bool convexHalfspaceIntersect(const Convex<S>& s1, const Transform3<S>& tf1,
+                               const Halfspace<S>& s2, const Transform3<S>& tf2,
+                               Vector3<S>* contact_points, S* penetration_depth, Vector3<S>* normal);
+@@ -160,13 +143,12 @@ bool convexHalfspaceIntersect(const Convex<S>& s1, const Transform3<S>& tf1,
+ /// @return `true` if the two geometries are intersecting.
+ /// @tparam S The computational scalar.
+ template <typename S>
+-FCL_EXPORT bool convexHalfspaceIntersect(
++bool convexHalfspaceIntersect(
+     const Convex<S>& convex_C, const Transform3<S>& X_FC,
+     const Halfspace<S>& half_space_H, const Transform3<S>& X_FH,
+     std::vector<ContactPoint<S>>* contacts);
+ 
+ template <typename S>
+-FCL_EXPORT
+ bool halfspaceTriangleIntersect(const Halfspace<S>& s1, const Transform3<S>& tf1,
+                                 const Vector3<S>& P1, const Vector3<S>& P2, const Vector3<S>& P3, const Transform3<S>& tf2,
+                                 Vector3<S>* contact_points, S* penetration_depth, Vector3<S>* normal);
+@@ -179,7 +161,6 @@ bool halfspaceTriangleIntersect(const Halfspace<S>& s1, const Transform3<S>& tf1
+ /// if not parallel
+ ///     return the intersection ray, return code 3. ray origin is p and direction is d
+ template <typename S>
+-FCL_EXPORT
+ bool planeHalfspaceIntersect(const Plane<S>& s1, const Transform3<S>& tf1,
+                              const Halfspace<S>& s2, const Transform3<S>& tf2,
+                              Plane<S>& pl,
+@@ -188,7 +169,6 @@ bool planeHalfspaceIntersect(const Plane<S>& s1, const Transform3<S>& tf1,
+                              int& ret);
+ 
+ template <typename S>
+-FCL_EXPORT
+ bool halfspacePlaneIntersect(const Halfspace<S>& s1, const Transform3<S>& tf1,
+                              const Plane<S>& s2, const Transform3<S>& tf2,
+                              Plane<S>& pl, Vector3<S>& p, Vector3<S>& d,
+@@ -204,7 +184,6 @@ bool halfspacePlaneIntersect(const Halfspace<S>& s1, const Transform3<S>& tf1,
+ /// if the separation planes of the two halfspaces are not parallel, return intersection ray, return code 4. ray origin is p and direction is d
+ /// collision free return code 0
+ template <typename S>
+-FCL_EXPORT
+ bool halfspaceIntersect(const Halfspace<S>& s1, const Transform3<S>& tf1,
+                         const Halfspace<S>& s2, const Transform3<S>& tf2,
+                         Vector3<S>& p, Vector3<S>& d,
+diff --git a/include/fcl/narrowphase/detail/primitive_shape_algorithm/plane.h b/include/fcl/narrowphase/detail/primitive_shape_algorithm/plane.h
+index 86b141f..e28e10d 100755
+--- a/include/fcl/narrowphase/detail/primitive_shape_algorithm/plane.h
++++ b/include/fcl/narrowphase/detail/primitive_shape_algorithm/plane.h
+@@ -55,25 +55,22 @@ namespace detail
+ {
+ 
+ template <typename S>
+-FCL_EXPORT
+ S planeIntersectTolerance();
+ 
+-template <>
++extern template
+ FCL_EXPORT
+ double planeIntersectTolerance();
+ 
+-template <>
++extern template
+ FCL_EXPORT
+ float planeIntersectTolerance();
+ 
+ template <typename S>
+-FCL_EXPORT
+ bool spherePlaneIntersect(const Sphere<S>& s1, const Transform3<S>& tf1,
+                           const Plane<S>& s2, const Transform3<S>& tf2,
+                           std::vector<ContactPoint<S>>* contacts);
+ 
+ template <typename S>
+-FCL_EXPORT
+ bool ellipsoidPlaneIntersect(const Ellipsoid<S>& s1, const Transform3<S>& tf1,
+                              const Plane<S>& s2, const Transform3<S>& tf2,
+                              std::vector<ContactPoint<S>>* contacts);
+@@ -86,18 +83,15 @@ bool ellipsoidPlaneIntersect(const Ellipsoid<S>& s1, const Transform3<S>& tf1,
+ /// (R^T n) (a v1 + b v2 + c v3) can get |(R^T n) (a v1 + b v2 + c v3)| for one a, b, c.
+ /// if |d - n * T| <= |(R^T n)(a v1 + b v2 + c v3)| then can get both positive and negative value on the right side.
+ template <typename S>
+-FCL_EXPORT
+ bool boxPlaneIntersect(const Box<S>& s1, const Transform3<S>& tf1,
+                        const Plane<S>& s2, const Transform3<S>& tf2,
+                        std::vector<ContactPoint<S>>* contacts);
+ 
+ template <typename S>
+-FCL_EXPORT
+ bool capsulePlaneIntersect(const Capsule<S>& s1, const Transform3<S>& tf1,
+                            const Plane<S>& s2, const Transform3<S>& tf2);
+ 
+ template <typename S>
+-FCL_EXPORT
+ bool capsulePlaneIntersect(const Capsule<S>& s1, const Transform3<S>& tf1,
+                            const Plane<S>& s2, const Transform3<S>& tf2,
+                            std::vector<ContactPoint<S>>* contacts);
+@@ -108,36 +102,30 @@ bool capsulePlaneIntersect(const Capsule<S>& s1, const Transform3<S>& tf1,
+ /// (n^T * v3) * h + n * T -d + r * (cosa * (n^T * R * v1) + sina * (n^T * R * v2)) ~ 0
+ /// (n^T * v3) * h + r * (cosa * (n^T * R * v1) + sina * (n^T * R * v2)) + n * T - d ~ 0
+ template <typename S>
+-FCL_EXPORT
+ bool cylinderPlaneIntersect(const Cylinder<S>& s1, const Transform3<S>& tf1,
+                             const Plane<S>& s2, const Transform3<S>& tf2);
+ 
+ template <typename S>
+-FCL_EXPORT
+ bool cylinderPlaneIntersect(const Cylinder<S>& s1, const Transform3<S>& tf1,
+                             const Plane<S>& s2, const Transform3<S>& tf2,
+                             std::vector<ContactPoint<S>>* contacts);
+ 
+ template <typename S>
+-FCL_EXPORT
+ bool conePlaneIntersect(const Cone<S>& s1, const Transform3<S>& tf1,
+                         const Plane<S>& s2, const Transform3<S>& tf2,
+                         std::vector<ContactPoint<S>>* contacts);
+ 
+ template <typename S>
+-FCL_EXPORT
+ bool convexPlaneIntersect(const Convex<S>& s1, const Transform3<S>& tf1,
+                           const Plane<S>& s2, const Transform3<S>& tf2,
+                           Vector3<S>* contact_points, S* penetration_depth, Vector3<S>* normal);
+ 
+ template <typename S>
+-FCL_EXPORT
+ bool planeTriangleIntersect(const Plane<S>& s1, const Transform3<S>& tf1,
+                             const Vector3<S>& P1, const Vector3<S>& P2, const Vector3<S>& P3, const Transform3<S>& tf2,
+                             Vector3<S>* contact_points, S* penetration_depth, Vector3<S>* normal);
+ 
+ template <typename S>
+-FCL_EXPORT
+ bool planeIntersect(const Plane<S>& s1, const Transform3<S>& tf1,
+                     const Plane<S>& s2, const Transform3<S>& tf2,
+                     std::vector<ContactPoint<S>>* contacts);
+diff --git a/include/fcl/narrowphase/detail/primitive_shape_algorithm/sphere_box-inl.h b/include/fcl/narrowphase/detail/primitive_shape_algorithm/sphere_box-inl.h
+index 77e0a66..38a2a0b 100644
+--- a/include/fcl/narrowphase/detail/primitive_shape_algorithm/sphere_box-inl.h
++++ b/include/fcl/narrowphase/detail/primitive_shape_algorithm/sphere_box-inl.h
+@@ -42,14 +42,14 @@
+ namespace fcl {
+ namespace detail {
+ 
+-extern template FCL_EXPORT bool
++extern template bool
+ sphereBoxIntersect(const Sphere<double>& sphere, const Transform3<double>& X_FS,
+                    const Box<double>& box, const Transform3<double>& X_FB,
+                    std::vector<ContactPoint<double>>* contacts);
+ 
+ //==============================================================================
+ 
+-extern template FCL_EXPORT bool
++extern template bool
+ sphereBoxDistance(const Sphere<double>& sphere, const Transform3<double>& X_FS,
+                   const Box<double>& box, const Transform3<double>& X_FB,
+                   double* distance, Vector3<double>* p_FSb,
+@@ -95,7 +95,7 @@ bool nearestPointInBox(const Vector3<S>& size, const Vector3<S>& p_BQ,
+ //==============================================================================
+ 
+ template <typename S>
+-FCL_EXPORT bool sphereBoxIntersect(const Sphere<S>& sphere,
++bool sphereBoxIntersect(const Sphere<S>& sphere,
+                                    const Transform3<S>& X_FS, const Box<S>& box,
+                                    const Transform3<S>& X_FB,
+                                    std::vector<ContactPoint<S>>* contacts) {
+@@ -180,7 +180,7 @@ FCL_EXPORT bool sphereBoxIntersect(const Sphere<S>& sphere,
+ //==============================================================================
+ 
+ template <typename S>
+-FCL_EXPORT bool sphereBoxDistance(const Sphere<S>& sphere,
++bool sphereBoxDistance(const Sphere<S>& sphere,
+                                   const Transform3<S>& X_FS, const Box<S>& box,
+                                   const Transform3<S>& X_FB, S* distance,
+                                   Vector3<S>* p_FSb, Vector3<S>* p_FBs) {
+diff --git a/include/fcl/narrowphase/detail/primitive_shape_algorithm/sphere_box.h b/include/fcl/narrowphase/detail/primitive_shape_algorithm/sphere_box.h
+index 87fabf8..339a6dd 100644
+--- a/include/fcl/narrowphase/detail/primitive_shape_algorithm/sphere_box.h
++++ b/include/fcl/narrowphase/detail/primitive_shape_algorithm/sphere_box.h
+@@ -107,7 +107,7 @@ namespace detail {
+  @return True if the objects are colliding (including touching).
+  @tparam S The scalar parameter (must be a valid Eigen scalar).  */
+ template <typename S>
+-FCL_EXPORT bool sphereBoxIntersect(const Sphere<S>& sphere,
++bool sphereBoxIntersect(const Sphere<S>& sphere,
+                                    const Transform3<S>& X_FS, const Box<S>& box,
+                                    const Transform3<S>& X_FB,
+                                    std::vector<ContactPoint<S>>* contacts);
+@@ -127,7 +127,7 @@ FCL_EXPORT bool sphereBoxIntersect(const Sphere<S>& sphere,
+  @return True if the objects are separated.
+  @tparam S The scalar parameter (must be a valid Eigen scalar).  */
+ template <typename S>
+-FCL_EXPORT bool sphereBoxDistance(const Sphere<S>& sphere,
++bool sphereBoxDistance(const Sphere<S>& sphere,
+                                   const Transform3<S>& X_FS, const Box<S>& box,
+                                   const Transform3<S>& X_FB, S* distance,
+                                   Vector3<S>* p_FSb, Vector3<S>* p_FBs);
+diff --git a/include/fcl/narrowphase/detail/primitive_shape_algorithm/sphere_capsule.h b/include/fcl/narrowphase/detail/primitive_shape_algorithm/sphere_capsule.h
+index 2820b32..81061f3 100755
+--- a/include/fcl/narrowphase/detail/primitive_shape_algorithm/sphere_capsule.h
++++ b/include/fcl/narrowphase/detail/primitive_shape_algorithm/sphere_capsule.h
+@@ -53,7 +53,6 @@ namespace detail
+ // given by Dan Sunday's page:
+ //   http://geomalgorithms.com/a02-_lines.html
+ template <typename S>
+-FCL_EXPORT
+ void lineSegmentPointClosestToPoint(
+     const Vector3<S> &p,
+     const Vector3<S> &s1,
+@@ -61,13 +60,11 @@ void lineSegmentPointClosestToPoint(
+     Vector3<S> &sp);
+ 
+ template <typename S>
+-FCL_EXPORT
+ bool sphereCapsuleIntersect(const Sphere<S>& s1, const Transform3<S>& tf1,
+                             const Capsule<S>& s2, const Transform3<S>& tf2,
+                             std::vector<ContactPoint<S>>* contacts);
+ 
+ template <typename S>
+-FCL_EXPORT
+ bool sphereCapsuleDistance(const Sphere<S>& s1, const Transform3<S>& tf1,
+                            const Capsule<S>& s2, const Transform3<S>& tf2,
+                            S* dist, Vector3<S>* p1, Vector3<S>* p2);
+diff --git a/include/fcl/narrowphase/detail/primitive_shape_algorithm/sphere_cylinder-inl.h b/include/fcl/narrowphase/detail/primitive_shape_algorithm/sphere_cylinder-inl.h
+index abda262..f1fdaca 100644
+--- a/include/fcl/narrowphase/detail/primitive_shape_algorithm/sphere_cylinder-inl.h
++++ b/include/fcl/narrowphase/detail/primitive_shape_algorithm/sphere_cylinder-inl.h
+@@ -42,7 +42,7 @@
+ namespace fcl {
+ namespace detail {
+ 
+-extern template FCL_EXPORT bool
++extern template bool
+ sphereCylinderIntersect(const Sphere<double>& sphere,
+                         const Transform3<double>& X_FS,
+                         const Cylinder<double>& cylinder,
+@@ -51,7 +51,7 @@ sphereCylinderIntersect(const Sphere<double>& sphere,
+ 
+ //==============================================================================
+ 
+-extern template FCL_EXPORT bool
++extern template bool
+ sphereCylinderDistance(const Sphere<double>& sphere,
+                        const Transform3<double>& X_FS,
+                        const Cylinder<double>& cylinder,
+@@ -111,7 +111,7 @@ bool nearestPointInCylinder(const S& height, const S& radius,
+ //==============================================================================
+ 
+ template <typename S>
+-FCL_EXPORT bool sphereCylinderIntersect(
++bool sphereCylinderIntersect(
+     const Sphere<S>& sphere, const Transform3<S>& X_FS,
+     const Cylinder<S>& cylinder, const Transform3<S>& X_FC,
+     std::vector<ContactPoint<S>>* contacts) {
+@@ -223,7 +223,7 @@ FCL_EXPORT bool sphereCylinderIntersect(
+ //==============================================================================
+ 
+ template <typename S>
+-FCL_EXPORT bool sphereCylinderDistance(const Sphere<S>& sphere,
++bool sphereCylinderDistance(const Sphere<S>& sphere,
+                                        const Transform3<S>& X_FS,
+                                        const Cylinder<S>& cylinder,
+                                        const Transform3<S>& X_FC, S* distance,
+diff --git a/include/fcl/narrowphase/detail/primitive_shape_algorithm/sphere_cylinder.h b/include/fcl/narrowphase/detail/primitive_shape_algorithm/sphere_cylinder.h
+index 4209b03..3492b62 100644
+--- a/include/fcl/narrowphase/detail/primitive_shape_algorithm/sphere_cylinder.h
++++ b/include/fcl/narrowphase/detail/primitive_shape_algorithm/sphere_cylinder.h
+@@ -102,7 +102,7 @@ namespace detail {
+  @return True if the objects are colliding (including touching).
+  @tparam S The scalar parameter (must be a valid Eigen scalar).  */
+ template <typename S>
+-FCL_EXPORT bool sphereCylinderIntersect(const Sphere<S>& sphere,
++bool sphereCylinderIntersect(const Sphere<S>& sphere,
+                                         const Transform3<S>& X_FS,
+                                         const Cylinder<S>& cylinder,
+                                         const Transform3<S>& X_FC,
+@@ -123,7 +123,7 @@ FCL_EXPORT bool sphereCylinderIntersect(const Sphere<S>& sphere,
+  @return True if the objects are separated.
+  @tparam S The scalar parameter (must be a valid Eigen scalar).  */
+ template <typename S>
+-FCL_EXPORT bool sphereCylinderDistance(const Sphere<S>& sphere,
++bool sphereCylinderDistance(const Sphere<S>& sphere,
+                                        const Transform3<S>& X_FS,
+                                        const Cylinder<S>& cylinder,
+                                        const Transform3<S>& X_FC, S* distance,
+diff --git a/include/fcl/narrowphase/detail/primitive_shape_algorithm/sphere_sphere-inl.h b/include/fcl/narrowphase/detail/primitive_shape_algorithm/sphere_sphere-inl.h
+index d12671c..2712aa9 100755
+--- a/include/fcl/narrowphase/detail/primitive_shape_algorithm/sphere_sphere-inl.h
++++ b/include/fcl/narrowphase/detail/primitive_shape_algorithm/sphere_sphere-inl.h
+@@ -62,7 +62,6 @@ bool sphereSphereDistance(const Sphere<double>& s1, const Transform3<double>& tf
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ bool sphereSphereIntersect(const Sphere<S>& s1, const Transform3<S>& tf1,
+                            const Sphere<S>& s2, const Transform3<S>& tf2,
+                            std::vector<ContactPoint<S>>* contacts)
+@@ -87,7 +86,6 @@ bool sphereSphereIntersect(const Sphere<S>& s1, const Transform3<S>& tf1,
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ bool sphereSphereDistance(const Sphere<S>& s1, const Transform3<S>& tf1,
+                           const Sphere<S>& s2, const Transform3<S>& tf2,
+                           S* dist, Vector3<S>* p1, Vector3<S>* p2)
+diff --git a/include/fcl/narrowphase/detail/primitive_shape_algorithm/sphere_triangle.h b/include/fcl/narrowphase/detail/primitive_shape_algorithm/sphere_triangle.h
+index 15a2a70..61da0d5 100755
+--- a/include/fcl/narrowphase/detail/primitive_shape_algorithm/sphere_triangle.h
++++ b/include/fcl/narrowphase/detail/primitive_shape_algorithm/sphere_triangle.h
+@@ -49,33 +49,27 @@ namespace detail
+ 
+ /** @brief the minimum distance from a point to a line */
+ template <typename S>
+-FCL_EXPORT
+ S segmentSqrDistance(const Vector3<S>& from, const Vector3<S>& to,const Vector3<S>& p, Vector3<S>& nearest);
+ 
+ /// @brief Whether a point's projection is in a triangle
+ template <typename S>
+-FCL_EXPORT
+ bool projectInTriangle(const Vector3<S>& p1, const Vector3<S>& p2, const Vector3<S>& p3, const Vector3<S>& normal, const Vector3<S>& p);
+ 
+ template <typename S>
+-FCL_EXPORT
+ bool sphereTriangleIntersect(const Sphere<S>& s, const Transform3<S>& tf,
+                              const Vector3<S>& P1, const Vector3<S>& P2, const Vector3<S>& P3, Vector3<S>* contact_points, S* penetration_depth, Vector3<S>* normal_);
+ 
+ template <typename S>
+-FCL_EXPORT
+ bool sphereTriangleDistance(const Sphere<S>& sp, const Transform3<S>& tf,
+                             const Vector3<S>& P1, const Vector3<S>& P2, const Vector3<S>& P3,
+                             S* dist);
+ 
+ template <typename S>
+-FCL_EXPORT
+ bool sphereTriangleDistance(const Sphere<S>& sp, const Transform3<S>& tf,
+                             const Vector3<S>& P1, const Vector3<S>& P2, const Vector3<S>& P3,
+                             S* dist, Vector3<S>* p1, Vector3<S>* p2);
+ 
+ template <typename S>
+-FCL_EXPORT
+ bool sphereTriangleDistance(const Sphere<S>& sp, const Transform3<S>& tf1,
+                             const Vector3<S>& P1, const Vector3<S>& P2, const Vector3<S>& P3, const Transform3<S>& tf2,
+                             S* dist, Vector3<S>* p1, Vector3<S>* p2);
+diff --git a/include/fcl/narrowphase/detail/primitive_shape_algorithm/triangle_distance-inl.h b/include/fcl/narrowphase/detail/primitive_shape_algorithm/triangle_distance-inl.h
+index 33a1d4f..9cc32c6 100644
+--- a/include/fcl/narrowphase/detail/primitive_shape_algorithm/triangle_distance-inl.h
++++ b/include/fcl/narrowphase/detail/primitive_shape_algorithm/triangle_distance-inl.h
+@@ -48,7 +48,7 @@ namespace detail
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT TriangleDistance<double>;
++class TriangleDistance<double>;
+ 
+ //==============================================================================
+ template <typename S>
+diff --git a/include/fcl/narrowphase/detail/primitive_shape_algorithm/triangle_distance.h b/include/fcl/narrowphase/detail/primitive_shape_algorithm/triangle_distance.h
+index cb4b2e6..cc800f0 100644
+--- a/include/fcl/narrowphase/detail/primitive_shape_algorithm/triangle_distance.h
++++ b/include/fcl/narrowphase/detail/primitive_shape_algorithm/triangle_distance.h
+@@ -48,7 +48,7 @@ namespace detail
+ 
+ /// @brief Triangle distance functions
+ template <typename S>
+-class FCL_EXPORT TriangleDistance
++class TriangleDistance
+ {
+ public:
+ 
+diff --git a/include/fcl/narrowphase/detail/traversal/collision/bvh_collision_traversal_node.h b/include/fcl/narrowphase/detail/traversal/collision/bvh_collision_traversal_node.h
+index 021a478..44cfe31 100644
+--- a/include/fcl/narrowphase/detail/traversal/collision/bvh_collision_traversal_node.h
++++ b/include/fcl/narrowphase/detail/traversal/collision/bvh_collision_traversal_node.h
+@@ -49,7 +49,7 @@ namespace detail
+ 
+ /// @brief Traversal node for collision between BVH models
+ template <typename BV>
+-class FCL_EXPORT BVHCollisionTraversalNode
++class BVHCollisionTraversalNode
+     : public CollisionTraversalNodeBase<typename BV::S>
+ {
+ public:
+diff --git a/include/fcl/narrowphase/detail/traversal/collision/bvh_shape_collision_traversal_node.h b/include/fcl/narrowphase/detail/traversal/collision/bvh_shape_collision_traversal_node.h
+index 9247d56..551223d 100644
+--- a/include/fcl/narrowphase/detail/traversal/collision/bvh_shape_collision_traversal_node.h
++++ b/include/fcl/narrowphase/detail/traversal/collision/bvh_shape_collision_traversal_node.h
+@@ -49,7 +49,7 @@ namespace detail
+ 
+ /// @brief Traversal node for collision between BVH and shape
+ template <typename BV, typename Shape>
+-class FCL_EXPORT BVHShapeCollisionTraversalNode
++class BVHShapeCollisionTraversalNode
+     : public CollisionTraversalNodeBase<typename BV::S>
+ {
+ public:
+diff --git a/include/fcl/narrowphase/detail/traversal/collision/collision_traversal_node_base-inl.h b/include/fcl/narrowphase/detail/traversal/collision/collision_traversal_node_base-inl.h
+index 86743e2..f1243c8 100644
+--- a/include/fcl/narrowphase/detail/traversal/collision/collision_traversal_node_base-inl.h
++++ b/include/fcl/narrowphase/detail/traversal/collision/collision_traversal_node_base-inl.h
+@@ -50,7 +50,7 @@ namespace detail
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT CollisionTraversalNodeBase<double>;
++class CollisionTraversalNodeBase<double>;
+ 
+ //==============================================================================
+ template <typename S>
+diff --git a/include/fcl/narrowphase/detail/traversal/collision/collision_traversal_node_base.h b/include/fcl/narrowphase/detail/traversal/collision/collision_traversal_node_base.h
+index 6f6b10c..58ea125 100644
+--- a/include/fcl/narrowphase/detail/traversal/collision/collision_traversal_node_base.h
++++ b/include/fcl/narrowphase/detail/traversal/collision/collision_traversal_node_base.h
+@@ -49,7 +49,7 @@ namespace detail
+ 
+ /// @brief Node structure encoding the information required for collision traversal.
+ template <typename S>
+-class FCL_EXPORT CollisionTraversalNodeBase : public TraversalNodeBase<S>
++class CollisionTraversalNodeBase : public TraversalNodeBase<S>
+ {
+ public:
+   CollisionTraversalNodeBase();
+diff --git a/include/fcl/narrowphase/detail/traversal/collision/intersect-inl.h b/include/fcl/narrowphase/detail/traversal/collision/intersect-inl.h
+index 4c9d606..7834b24 100644
+--- a/include/fcl/narrowphase/detail/traversal/collision/intersect-inl.h
++++ b/include/fcl/narrowphase/detail/traversal/collision/intersect-inl.h
+@@ -48,7 +48,7 @@ namespace detail
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT Intersect<double>;
++class Intersect<double>;
+ 
+ //==============================================================================
+ template <typename S>
+diff --git a/include/fcl/narrowphase/detail/traversal/collision/intersect.h b/include/fcl/narrowphase/detail/traversal/collision/intersect.h
+index d653b87..355876e 100644
+--- a/include/fcl/narrowphase/detail/traversal/collision/intersect.h
++++ b/include/fcl/narrowphase/detail/traversal/collision/intersect.h
+@@ -51,7 +51,7 @@ namespace detail
+ 
+ /// @brief CCD intersect kernel among primitives 
+ template <typename S>
+-class FCL_EXPORT Intersect
++class Intersect
+ {
+ 
+ public:
+diff --git a/include/fcl/narrowphase/detail/traversal/collision/mesh_collision_traversal_node-inl.h b/include/fcl/narrowphase/detail/traversal/collision/mesh_collision_traversal_node-inl.h
+index 0a2731f..66255b6 100644
+--- a/include/fcl/narrowphase/detail/traversal/collision/mesh_collision_traversal_node-inl.h
++++ b/include/fcl/narrowphase/detail/traversal/collision/mesh_collision_traversal_node-inl.h
+@@ -52,7 +52,7 @@ namespace detail
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT MeshCollisionTraversalNodeOBB<double>;
++class MeshCollisionTraversalNodeOBB<double>;
+ 
+ //==============================================================================
+ extern template
+@@ -67,7 +67,7 @@ bool initialize(
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT MeshCollisionTraversalNodeRSS<double>;
++class MeshCollisionTraversalNodeRSS<double>;
+ 
+ //==============================================================================
+ extern template
+@@ -82,7 +82,7 @@ bool initialize(
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT MeshCollisionTraversalNodekIOS<double>;
++class MeshCollisionTraversalNodekIOS<double>;
+ 
+ //==============================================================================
+ extern template
+@@ -97,7 +97,7 @@ bool initialize(
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT MeshCollisionTraversalNodeOBBRSS<double>;
++class MeshCollisionTraversalNodeOBBRSS<double>;
+ 
+ //==============================================================================
+ extern template
+diff --git a/include/fcl/narrowphase/detail/traversal/collision/mesh_collision_traversal_node.h b/include/fcl/narrowphase/detail/traversal/collision/mesh_collision_traversal_node.h
+index 7e3d993..af01744 100644
+--- a/include/fcl/narrowphase/detail/traversal/collision/mesh_collision_traversal_node.h
++++ b/include/fcl/narrowphase/detail/traversal/collision/mesh_collision_traversal_node.h
+@@ -55,7 +55,7 @@ namespace detail
+ 
+ /// @brief Traversal node for collision between two meshes
+ template <typename BV>
+-class FCL_EXPORT MeshCollisionTraversalNode : public BVHCollisionTraversalNode<BV>
++class MeshCollisionTraversalNode : public BVHCollisionTraversalNode<BV>
+ {
+ public:
+ 
+@@ -81,7 +81,6 @@ public:
+ /// @brief Initialize traversal node for collision between two meshes, given the
+ /// current transforms
+ template <typename BV>
+-FCL_EXPORT
+ bool initialize(
+     MeshCollisionTraversalNode<BV>& node,
+     BVHModel<BV>& model1,
+@@ -96,7 +95,7 @@ bool initialize(
+ /// @brief Traversal node for collision between two meshes if their underlying
+ /// BVH node is oriented node (OBB, RSS, OBBRSS, kIOS)
+ template <typename S>
+-class FCL_EXPORT MeshCollisionTraversalNodeOBB : public MeshCollisionTraversalNode<OBB<S>>
++class MeshCollisionTraversalNodeOBB : public MeshCollisionTraversalNode<OBB<S>>
+ {
+ public:
+   MeshCollisionTraversalNodeOBB();
+@@ -125,7 +124,6 @@ using MeshCollisionTraversalNodeOBBd = MeshCollisionTraversalNodeOBB<double>;
+ /// @brief Initialize traversal node for collision between two meshes,
+ /// specialized for OBB type
+ template <typename S>
+-FCL_EXPORT
+ bool initialize(
+     MeshCollisionTraversalNodeOBB<S>& node,
+     const BVHModel<OBB<S>>& model1,
+@@ -136,7 +134,7 @@ bool initialize(
+     CollisionResult<S>& result);
+ 
+ template <typename S>
+-class FCL_EXPORT MeshCollisionTraversalNodeRSS : public MeshCollisionTraversalNode<RSS<S>>
++class MeshCollisionTraversalNodeRSS : public MeshCollisionTraversalNode<RSS<S>>
+ {
+ public:
+   MeshCollisionTraversalNodeRSS();
+@@ -148,12 +146,12 @@ public:
+ //  FCL_DEPRECATED
+ //  bool BVTesting(int b1, int b2, const Matrix3<S>& Rc, const Vector3<S>& Tc) const;
+ 
+-  bool BVTesting(int b1, int b2, const Transform3<S>& tf) const;
++  // bool BVTesting(int b1, int b2, const Transform3<S>& tf) const;
+ 
+ //  FCL_DEPRECATED
+ //  void leafTesting(int b1, int b2, const Matrix3<S>& Rc, const Vector3<S>& Tc) const;
+ 
+-  void leafTesting(int b1, int b2, const Transform3<S>& tf) const;
++  // void leafTesting(int b1, int b2, const Transform3<S>& tf) const;
+ 
+   Matrix3<S> R;
+   Vector3<S> T;
+@@ -167,7 +165,6 @@ using MeshCollisionTraversalNodeRSSd = MeshCollisionTraversalNodeRSS<double>;
+ /// @brief Initialize traversal node for collision between two meshes,
+ /// specialized for RSS type
+ template <typename S>
+-FCL_EXPORT
+ bool initialize(
+     MeshCollisionTraversalNodeRSS<S>& node,
+     const BVHModel<RSS<S>>& model1,
+@@ -178,7 +175,7 @@ bool initialize(
+     CollisionResult<S>& result);
+ 
+ template <typename S>
+-class FCL_EXPORT MeshCollisionTraversalNodekIOS : public MeshCollisionTraversalNode<kIOS<S>>
++class MeshCollisionTraversalNodekIOS : public MeshCollisionTraversalNode<kIOS<S>>
+ {
+ public:
+   MeshCollisionTraversalNodekIOS();
+@@ -199,7 +196,6 @@ using MeshCollisionTraversalNodekIOSd = MeshCollisionTraversalNodekIOS<double>;
+ /// @brief Initialize traversal node for collision between two meshes,
+ /// specialized for kIOS type
+ template <typename S>
+-FCL_EXPORT
+ bool initialize(
+     MeshCollisionTraversalNodekIOS<S>& node,
+     const BVHModel<kIOS<S>>& model1,
+@@ -210,7 +206,7 @@ bool initialize(
+     CollisionResult<S>& result);
+ 
+ template <typename S>
+-class FCL_EXPORT MeshCollisionTraversalNodeOBBRSS : public MeshCollisionTraversalNode<OBBRSS<S>>
++class MeshCollisionTraversalNodeOBBRSS : public MeshCollisionTraversalNode<OBBRSS<S>>
+ {
+ public:
+   MeshCollisionTraversalNodeOBBRSS();
+@@ -232,7 +228,6 @@ using MeshCollisionTraversalNodeOBBRSSd = MeshCollisionTraversalNodeOBBRSS<doubl
+ /// @brief Initialize traversal node for collision between two meshes,
+ /// specialized for OBBRSS type
+ template <typename S>
+-FCL_EXPORT
+ bool initialize(
+     MeshCollisionTraversalNodeOBBRSS<S>& node,
+     const BVHModel<OBBRSS<S>>& model1,
+@@ -243,7 +238,6 @@ bool initialize(
+     CollisionResult<S>& result);
+ 
+ template <typename BV>
+-FCL_EXPORT
+ void meshCollisionOrientedNodeLeafTesting(
+     int b1,
+     int b2,
+@@ -264,7 +258,6 @@ void meshCollisionOrientedNodeLeafTesting(
+     CollisionResult<typename BV::S>& result);
+ 
+ template <typename BV>
+-FCL_EXPORT
+ void meshCollisionOrientedNodeLeafTesting(
+     int b1,
+     int b2,
+diff --git a/include/fcl/narrowphase/detail/traversal/collision/mesh_continuous_collision_traversal_node.h b/include/fcl/narrowphase/detail/traversal/collision/mesh_continuous_collision_traversal_node.h
+index 82425a5..a9e7b01 100644
+--- a/include/fcl/narrowphase/detail/traversal/collision/mesh_continuous_collision_traversal_node.h
++++ b/include/fcl/narrowphase/detail/traversal/collision/mesh_continuous_collision_traversal_node.h
+@@ -48,7 +48,7 @@ namespace detail
+ 
+ /// @brief Traversal node for continuous collision between BVH models
+ template <typename S>
+-struct FCL_EXPORT BVHContinuousCollisionPair
++struct BVHContinuousCollisionPair
+ {
+   BVHContinuousCollisionPair();
+ 
+@@ -66,7 +66,7 @@ struct FCL_EXPORT BVHContinuousCollisionPair
+ 
+ /// @brief Traversal node for continuous collision between meshes
+ template <typename BV>
+-class FCL_EXPORT MeshContinuousCollisionTraversalNode
++class MeshContinuousCollisionTraversalNode
+     : public BVHCollisionTraversalNode<BV>
+ {
+ public:
+@@ -101,7 +101,6 @@ public:
+ /// @brief Initialize traversal node for continuous collision detection between
+ /// two meshes
+ template <typename BV>
+-FCL_EXPORT
+ bool initialize(
+     MeshContinuousCollisionTraversalNode<BV>& node,
+     const BVHModel<BV>& model1,
+diff --git a/include/fcl/narrowphase/detail/traversal/collision/mesh_shape_collision_traversal_node.h b/include/fcl/narrowphase/detail/traversal/collision/mesh_shape_collision_traversal_node.h
+index a06250a..8a658cf 100644
+--- a/include/fcl/narrowphase/detail/traversal/collision/mesh_shape_collision_traversal_node.h
++++ b/include/fcl/narrowphase/detail/traversal/collision/mesh_shape_collision_traversal_node.h
+@@ -49,7 +49,7 @@ namespace detail
+ 
+ /// @brief Traversal node for collision between mesh and shape
+ template <typename BV, typename Shape, typename NarrowPhaseSolver>
+-class FCL_EXPORT MeshShapeCollisionTraversalNode
++class MeshShapeCollisionTraversalNode
+     : public BVHShapeCollisionTraversalNode<BV, Shape>
+ {
+ public:
+@@ -75,7 +75,6 @@ public:
+ /// @brief Initialize traversal node for collision between one mesh and one
+ /// shape, given current object transform
+ template <typename BV, typename Shape, typename NarrowPhaseSolver>
+-FCL_EXPORT
+ bool initialize(
+     MeshShapeCollisionTraversalNode<BV, Shape, NarrowPhaseSolver>& node,
+     BVHModel<BV>& model1,
+@@ -88,7 +87,6 @@ bool initialize(
+     bool use_refit = false, bool refit_bottomup = false);
+ 
+ template <typename BV, typename Shape, typename NarrowPhaseSolver>
+-FCL_EXPORT
+ void meshShapeCollisionOrientedNodeLeafTesting(
+     int b1,
+     int b2,
+@@ -107,7 +105,7 @@ void meshShapeCollisionOrientedNodeLeafTesting(
+ 
+ /// @brief Traversal node for mesh and shape, when mesh BVH is one of the oriented node (OBB, RSS, OBBRSS, kIOS)
+ template <typename Shape, typename NarrowPhaseSolver>
+-class FCL_EXPORT MeshShapeCollisionTraversalNodeOBB
++class MeshShapeCollisionTraversalNodeOBB
+     : public MeshShapeCollisionTraversalNode<
+           OBB<typename Shape::S>, Shape, NarrowPhaseSolver>
+ {
+@@ -123,7 +121,6 @@ public:
+ /// @brief Initialize the traversal node for collision between one mesh and one
+ /// shape, specialized for OBB type
+ template <typename Shape, typename NarrowPhaseSolver>
+-FCL_EXPORT
+ bool initialize(
+     MeshShapeCollisionTraversalNodeOBB<Shape, NarrowPhaseSolver>& node,
+     const BVHModel<OBB<typename Shape::S>>& model1,
+@@ -135,7 +132,7 @@ bool initialize(
+     CollisionResult<typename Shape::S>& result);
+ 
+ template <typename Shape, typename NarrowPhaseSolver>
+-class FCL_EXPORT MeshShapeCollisionTraversalNodeRSS
++class MeshShapeCollisionTraversalNodeRSS
+     : public MeshShapeCollisionTraversalNode<
+           RSS<typename Shape::S>, Shape, NarrowPhaseSolver>
+ {
+@@ -151,7 +148,6 @@ public:
+ /// @brief Initialize the traversal node for collision between one mesh and one
+ /// shape, specialized for RSS type
+ template <typename Shape, typename NarrowPhaseSolver>
+-FCL_EXPORT
+ bool initialize(
+     MeshShapeCollisionTraversalNodeRSS<Shape, NarrowPhaseSolver>& node,
+     const BVHModel<RSS<typename Shape::S>>& model1,
+@@ -163,7 +159,7 @@ bool initialize(
+     CollisionResult<typename Shape::S>& result);
+ 
+ template <typename Shape, typename NarrowPhaseSolver>
+-class FCL_EXPORT MeshShapeCollisionTraversalNodekIOS
++class MeshShapeCollisionTraversalNodekIOS
+     : public MeshShapeCollisionTraversalNode<
+           kIOS<typename Shape::S>, Shape, NarrowPhaseSolver>
+ {
+@@ -179,7 +175,6 @@ public:
+ /// @brief Initialize the traversal node for collision between one mesh and one
+ ///  shape, specialized for kIOS type
+ template <typename Shape, typename NarrowPhaseSolver>
+-FCL_EXPORT
+ bool initialize(
+     MeshShapeCollisionTraversalNodekIOS<Shape, NarrowPhaseSolver>& node,
+     const BVHModel<kIOS<typename Shape::S>>& model1,
+@@ -191,7 +186,7 @@ bool initialize(
+     CollisionResult<typename Shape::S>& result);
+ 
+ template <typename Shape, typename NarrowPhaseSolver>
+-class FCL_EXPORT MeshShapeCollisionTraversalNodeOBBRSS
++class MeshShapeCollisionTraversalNodeOBBRSS
+     : public MeshShapeCollisionTraversalNode<
+           OBBRSS<typename Shape::S>, Shape, NarrowPhaseSolver>
+ {
+@@ -207,7 +202,6 @@ public:
+ /// @brief Initialize the traversal node for collision between one mesh and one
+ /// shape, specialized for OBBRSS type
+ template <typename Shape, typename NarrowPhaseSolver>
+-FCL_EXPORT
+ bool initialize(
+     MeshShapeCollisionTraversalNodeOBBRSS<Shape, NarrowPhaseSolver>& node,
+     const BVHModel<OBBRSS<typename Shape::S>>& model1,
+diff --git a/include/fcl/narrowphase/detail/traversal/collision/shape_bvh_collision_traversal_node.h b/include/fcl/narrowphase/detail/traversal/collision/shape_bvh_collision_traversal_node.h
+index d665279..fc2ca97 100644
+--- a/include/fcl/narrowphase/detail/traversal/collision/shape_bvh_collision_traversal_node.h
++++ b/include/fcl/narrowphase/detail/traversal/collision/shape_bvh_collision_traversal_node.h
+@@ -49,7 +49,7 @@ namespace detail
+ 
+ /// @brief Traversal node for collision between shape and BVH
+ template <typename Shape, typename BV>
+-class FCL_EXPORT ShapeBVHCollisionTraversalNode
++class ShapeBVHCollisionTraversalNode
+     : public CollisionTraversalNodeBase<typename BV::S>
+ {
+ public:
+diff --git a/include/fcl/narrowphase/detail/traversal/collision/shape_collision_traversal_node.h b/include/fcl/narrowphase/detail/traversal/collision/shape_collision_traversal_node.h
+index 68394d1..575807f 100644
+--- a/include/fcl/narrowphase/detail/traversal/collision/shape_collision_traversal_node.h
++++ b/include/fcl/narrowphase/detail/traversal/collision/shape_collision_traversal_node.h
+@@ -50,7 +50,7 @@ namespace detail
+ 
+ /// @brief Traversal node for collision between two shapes
+ template <typename Shape1, typename Shape2, typename NarrowPhaseSolver>
+-class FCL_EXPORT ShapeCollisionTraversalNode
++class ShapeCollisionTraversalNode
+     : public CollisionTraversalNodeBase<typename Shape1::S>
+ {
+ public:
+diff --git a/include/fcl/narrowphase/detail/traversal/collision/shape_mesh_collision_traversal_node-inl.h b/include/fcl/narrowphase/detail/traversal/collision/shape_mesh_collision_traversal_node-inl.h
+index d4fbdfb..ed405f5 100644
+--- a/include/fcl/narrowphase/detail/traversal/collision/shape_mesh_collision_traversal_node-inl.h
++++ b/include/fcl/narrowphase/detail/traversal/collision/shape_mesh_collision_traversal_node-inl.h
+@@ -50,7 +50,6 @@ namespace detail
+ 
+ //==============================================================================
+ template <typename Shape, typename BV, typename NarrowPhaseSolver>
+-FCL_EXPORT
+ ShapeMeshCollisionTraversalNode<Shape, BV, NarrowPhaseSolver>::ShapeMeshCollisionTraversalNode()
+   : ShapeBVHCollisionTraversalNode<Shape, BV>()
+ {
+@@ -62,7 +61,6 @@ ShapeMeshCollisionTraversalNode<Shape, BV, NarrowPhaseSolver>::ShapeMeshCollisio
+ 
+ //==============================================================================
+ template <typename Shape, typename BV, typename NarrowPhaseSolver>
+-FCL_EXPORT
+ void ShapeMeshCollisionTraversalNode<Shape, BV, NarrowPhaseSolver>::leafTesting(int b1, int b2) const
+ {
+   FCL_UNUSED(b1);
+@@ -131,7 +129,6 @@ void ShapeMeshCollisionTraversalNode<Shape, BV, NarrowPhaseSolver>::leafTesting(
+ 
+ //==============================================================================
+ template <typename Shape, typename BV, typename NarrowPhaseSolver>
+-FCL_EXPORT
+ bool ShapeMeshCollisionTraversalNode<Shape, BV, NarrowPhaseSolver>::canStop() const
+ {
+   return this->request.isSatisfied(*(this->result));
+@@ -139,7 +136,6 @@ bool ShapeMeshCollisionTraversalNode<Shape, BV, NarrowPhaseSolver>::canStop() co
+ 
+ //==============================================================================
+ template <typename Shape, typename BV, typename NarrowPhaseSolver>
+-FCL_EXPORT
+ bool initialize(
+     ShapeMeshCollisionTraversalNode<Shape, BV, NarrowPhaseSolver>& node,
+     const Shape& model1,
+@@ -195,14 +191,12 @@ bool initialize(
+ 
+ //==============================================================================
+ template <typename Shape, typename NarrowPhaseSolver>
+-FCL_EXPORT
+ ShapeMeshCollisionTraversalNodeOBB<Shape, NarrowPhaseSolver>::ShapeMeshCollisionTraversalNodeOBB() : ShapeMeshCollisionTraversalNode<Shape, OBB<typename Shape::S>, NarrowPhaseSolver>()
+ {
+ }
+ 
+ //==============================================================================
+ template <typename Shape, typename NarrowPhaseSolver>
+-FCL_EXPORT
+ bool ShapeMeshCollisionTraversalNodeOBB<Shape, NarrowPhaseSolver>::BVTesting(int b1, int b2) const
+ {
+   FCL_UNUSED(b1);
+@@ -213,7 +207,6 @@ bool ShapeMeshCollisionTraversalNodeOBB<Shape, NarrowPhaseSolver>::BVTesting(int
+ 
+ //==============================================================================
+ template <typename Shape, typename NarrowPhaseSolver>
+-FCL_EXPORT
+ void ShapeMeshCollisionTraversalNodeOBB<Shape, NarrowPhaseSolver>::leafTesting(int b1, int b2) const
+ {
+   detail::meshShapeCollisionOrientedNodeLeafTesting(b2, b1, *(this->model2), this->model1, this->vertices, this->tri_indices,
+@@ -224,14 +217,12 @@ void ShapeMeshCollisionTraversalNodeOBB<Shape, NarrowPhaseSolver>::leafTesting(i
+ 
+ //==============================================================================
+ template <typename Shape, typename NarrowPhaseSolver>
+-FCL_EXPORT
+ ShapeMeshCollisionTraversalNodeRSS<Shape, NarrowPhaseSolver>::ShapeMeshCollisionTraversalNodeRSS() : ShapeMeshCollisionTraversalNode<Shape, RSS<typename Shape::S>, NarrowPhaseSolver>()
+ {
+ }
+ 
+ //==============================================================================
+ template <typename Shape, typename NarrowPhaseSolver>
+-FCL_EXPORT
+ bool ShapeMeshCollisionTraversalNodeRSS<Shape, NarrowPhaseSolver>::BVTesting(int b1, int b2) const
+ {
+   FCL_UNUSED(b1);
+@@ -242,7 +233,6 @@ bool ShapeMeshCollisionTraversalNodeRSS<Shape, NarrowPhaseSolver>::BVTesting(int
+ 
+ //==============================================================================
+ template <typename Shape, typename NarrowPhaseSolver>
+-FCL_EXPORT
+ void ShapeMeshCollisionTraversalNodeRSS<Shape, NarrowPhaseSolver>::leafTesting(int b1, int b2) const
+ {
+   detail::meshShapeCollisionOrientedNodeLeafTesting(b2, b1, *(this->model2), this->model1, this->vertices, this->tri_indices,
+@@ -253,14 +243,12 @@ void ShapeMeshCollisionTraversalNodeRSS<Shape, NarrowPhaseSolver>::leafTesting(i
+ 
+ //==============================================================================
+ template <typename Shape, typename NarrowPhaseSolver>
+-FCL_EXPORT
+ ShapeMeshCollisionTraversalNodekIOS<Shape, NarrowPhaseSolver>::ShapeMeshCollisionTraversalNodekIOS() : ShapeMeshCollisionTraversalNode<Shape, kIOS<typename Shape::S>, NarrowPhaseSolver>()
+ {
+ }
+ 
+ //==============================================================================
+ template <typename Shape, typename NarrowPhaseSolver>
+-FCL_EXPORT
+ bool ShapeMeshCollisionTraversalNodekIOS<Shape, NarrowPhaseSolver>::BVTesting(int b1, int b2) const
+ {
+   FCL_UNUSED(b1);
+@@ -271,7 +259,6 @@ bool ShapeMeshCollisionTraversalNodekIOS<Shape, NarrowPhaseSolver>::BVTesting(in
+ 
+ //==============================================================================
+ template <typename Shape, typename NarrowPhaseSolver>
+-FCL_EXPORT
+ void ShapeMeshCollisionTraversalNodekIOS<Shape, NarrowPhaseSolver>::leafTesting(int b1, int b2) const
+ {
+   detail::meshShapeCollisionOrientedNodeLeafTesting(b2, b1, *(this->model2), this->model1, this->vertices, this->tri_indices,
+@@ -282,14 +269,12 @@ void ShapeMeshCollisionTraversalNodekIOS<Shape, NarrowPhaseSolver>::leafTesting(
+ 
+ //==============================================================================
+ template <typename Shape, typename NarrowPhaseSolver>
+-FCL_EXPORT
+ ShapeMeshCollisionTraversalNodeOBBRSS<Shape, NarrowPhaseSolver>::ShapeMeshCollisionTraversalNodeOBBRSS() : ShapeMeshCollisionTraversalNode<Shape, OBBRSS<typename Shape::S>, NarrowPhaseSolver>()
+ {
+ }
+ 
+ //==============================================================================
+ template <typename Shape, typename NarrowPhaseSolver>
+-FCL_EXPORT
+ bool ShapeMeshCollisionTraversalNodeOBBRSS<Shape, NarrowPhaseSolver>::BVTesting(int b1, int b2) const
+ {
+   FCL_UNUSED(b1);
+@@ -300,7 +285,6 @@ bool ShapeMeshCollisionTraversalNodeOBBRSS<Shape, NarrowPhaseSolver>::BVTesting(
+ 
+ //==============================================================================
+ template <typename Shape, typename NarrowPhaseSolver>
+-FCL_EXPORT
+ void ShapeMeshCollisionTraversalNodeOBBRSS<Shape, NarrowPhaseSolver>::leafTesting(int b1, int b2) const
+ {
+   detail::meshShapeCollisionOrientedNodeLeafTesting(b2, b1, *(this->model2), this->model1, this->vertices, this->tri_indices,
+@@ -341,7 +325,6 @@ static bool setupShapeMeshCollisionOrientedNode(OrientedNode<Shape, NarrowPhaseS
+ 
+ //==============================================================================
+ template <typename Shape, typename NarrowPhaseSolver>
+-FCL_EXPORT
+ bool initialize(
+     ShapeMeshCollisionTraversalNodeOBB<Shape, NarrowPhaseSolver>& node,
+     const Shape& model1,
+@@ -358,7 +341,6 @@ bool initialize(
+ 
+ //==============================================================================
+ template <typename Shape, typename NarrowPhaseSolver>
+-FCL_EXPORT
+ bool initialize(
+     ShapeMeshCollisionTraversalNodeRSS<Shape, NarrowPhaseSolver>& node,
+     const Shape& model1,
+@@ -375,7 +357,6 @@ bool initialize(
+ 
+ //==============================================================================
+ template <typename Shape, typename NarrowPhaseSolver>
+-FCL_EXPORT
+ bool initialize(
+     ShapeMeshCollisionTraversalNodekIOS<Shape, NarrowPhaseSolver>& node,
+     const Shape& model1,
+@@ -392,7 +373,6 @@ bool initialize(
+ 
+ //==============================================================================
+ template <typename Shape, typename NarrowPhaseSolver>
+-FCL_EXPORT
+ bool initialize(
+     ShapeMeshCollisionTraversalNodeOBBRSS<Shape, NarrowPhaseSolver>& node,
+     const Shape& model1,
+diff --git a/include/fcl/narrowphase/detail/traversal/collision/shape_mesh_collision_traversal_node.h b/include/fcl/narrowphase/detail/traversal/collision/shape_mesh_collision_traversal_node.h
+index 5ebcc03..1514a5e 100644
+--- a/include/fcl/narrowphase/detail/traversal/collision/shape_mesh_collision_traversal_node.h
++++ b/include/fcl/narrowphase/detail/traversal/collision/shape_mesh_collision_traversal_node.h
+@@ -49,7 +49,7 @@ namespace detail
+ 
+ /// @brief Traversal node for collision between shape and mesh
+ template <typename Shape, typename BV, typename NarrowPhaseSolver>
+-class FCL_EXPORT ShapeMeshCollisionTraversalNode
++class ShapeMeshCollisionTraversalNode
+     : public ShapeBVHCollisionTraversalNode<Shape, BV>
+ {
+ public:
+@@ -74,7 +74,6 @@ public:
+ /// @brief Initialize traversal node for collision between one mesh and one
+ /// shape, given current object transform
+ template <typename Shape, typename BV, typename NarrowPhaseSolver>
+-FCL_EXPORT
+ bool initialize(
+     ShapeMeshCollisionTraversalNode<Shape, BV, NarrowPhaseSolver>& node,
+     const Shape& model1,
+@@ -88,7 +87,7 @@ bool initialize(
+ 
+ /// @brief Traversal node for shape and mesh, when mesh BVH is one of the oriented node (OBB, RSS, OBBRSS, kIOS)
+ template <typename Shape, typename NarrowPhaseSolver>
+-class FCL_EXPORT ShapeMeshCollisionTraversalNodeOBB
++class ShapeMeshCollisionTraversalNodeOBB
+     : public ShapeMeshCollisionTraversalNode<
+     Shape, OBB<typename Shape::S>, NarrowPhaseSolver>
+ {
+@@ -103,7 +102,6 @@ public:
+ /// @brief Initialize the traversal node for collision between one mesh and one
+ /// shape, specialized for OBB type
+ template <typename Shape, typename NarrowPhaseSolver>
+-FCL_EXPORT
+ bool initialize(
+     ShapeMeshCollisionTraversalNodeOBB<Shape, NarrowPhaseSolver>& node,
+     const Shape& model1,
+@@ -115,7 +113,7 @@ bool initialize(
+     CollisionResult<typename Shape::S>& result);
+ 
+ template <typename Shape, typename NarrowPhaseSolver>
+-class FCL_EXPORT ShapeMeshCollisionTraversalNodeRSS
++class ShapeMeshCollisionTraversalNodeRSS
+     : public ShapeMeshCollisionTraversalNode<Shape, RSS<typename Shape::S>, NarrowPhaseSolver>
+ {
+ public:
+@@ -130,7 +128,6 @@ public:
+ /// @brief Initialize the traversal node for collision between one mesh and one
+ /// shape, specialized for RSS type
+ template <typename Shape, typename NarrowPhaseSolver>
+-FCL_EXPORT
+ bool initialize(
+     ShapeMeshCollisionTraversalNodeRSS<Shape, NarrowPhaseSolver>& node,
+     const Shape& model1,
+@@ -142,7 +139,7 @@ bool initialize(
+     CollisionResult<typename Shape::S>& result);
+ 
+ template <typename Shape, typename NarrowPhaseSolver>
+-class FCL_EXPORT ShapeMeshCollisionTraversalNodekIOS
++class ShapeMeshCollisionTraversalNodekIOS
+     : public ShapeMeshCollisionTraversalNode<Shape, kIOS<typename Shape::S>, NarrowPhaseSolver>
+ {
+ public:
+@@ -157,7 +154,6 @@ public:
+ /// @brief Initialize the traversal node for collision between one mesh and one
+ /// shape, specialized for kIOS type
+ template <typename Shape, typename NarrowPhaseSolver>
+-FCL_EXPORT
+ bool initialize(
+     ShapeMeshCollisionTraversalNodekIOS<Shape, NarrowPhaseSolver>& node,
+     const Shape& model1,
+@@ -169,7 +165,7 @@ bool initialize(
+     CollisionResult<typename Shape::S>& result);
+ 
+ template <typename Shape, typename NarrowPhaseSolver>
+-class FCL_EXPORT ShapeMeshCollisionTraversalNodeOBBRSS
++class ShapeMeshCollisionTraversalNodeOBBRSS
+     : public ShapeMeshCollisionTraversalNode<Shape, OBBRSS<typename Shape::S>, NarrowPhaseSolver>
+ {
+ public:
+@@ -184,7 +180,6 @@ public:
+ /// @brief Initialize the traversal node for collision between one mesh and one
+ /// shape, specialized for OBBRSS type
+ template <typename Shape, typename NarrowPhaseSolver>
+-FCL_EXPORT
+ bool initialize(
+     ShapeMeshCollisionTraversalNodeOBBRSS<Shape, NarrowPhaseSolver>& node,
+     const Shape& model1,
+diff --git a/include/fcl/narrowphase/detail/traversal/collision_node.h b/include/fcl/narrowphase/detail/traversal/collision_node.h
+index c00a1a1..d15f4ee 100644
+--- a/include/fcl/narrowphase/detail/traversal/collision_node.h
++++ b/include/fcl/narrowphase/detail/traversal/collision_node.h
+@@ -53,27 +53,22 @@ namespace detail
+ 
+ /// @brief collision on collision traversal node; can use front list to accelerate
+ template <typename S>
+-FCL_EXPORT
+ void collide(CollisionTraversalNodeBase<S>* node, BVHFrontList* front_list = nullptr);
+ 
+ /// @brief self collision on collision traversal node; can use front list to accelerate
+ template <typename S>
+-FCL_EXPORT
+ void selfCollide(CollisionTraversalNodeBase<S>* node, BVHFrontList* front_list = nullptr);
+ 
+ /// @brief distance computation on distance traversal node; can use front list to accelerate
+ template <typename S>
+-FCL_EXPORT
+ void distance(DistanceTraversalNodeBase<S>* node, BVHFrontList* front_list = nullptr, int qsize = 2);
+ 
+ /// @brief special collision on OBB traversal node
+ template <typename S>
+-FCL_EXPORT
+ void collide2(MeshCollisionTraversalNodeOBB<S>* node, BVHFrontList* front_list = nullptr);
+ 
+ /// @brief special collision on RSS traversal node
+ template <typename S>
+-FCL_EXPORT
+ void collide2(MeshCollisionTraversalNodeRSS<S>* node, BVHFrontList* front_list = nullptr);
+ 
+ } // namespace detail
+diff --git a/include/fcl/narrowphase/detail/traversal/distance/bvh_distance_traversal_node.h b/include/fcl/narrowphase/detail/traversal/distance/bvh_distance_traversal_node.h
+index d56cbe2..5310bdd 100644
+--- a/include/fcl/narrowphase/detail/traversal/distance/bvh_distance_traversal_node.h
++++ b/include/fcl/narrowphase/detail/traversal/distance/bvh_distance_traversal_node.h
+@@ -50,7 +50,7 @@ namespace detail
+ 
+ /// @brief Traversal node for distance computation between BVH models
+ template <typename BV>
+-class FCL_EXPORT BVHDistanceTraversalNode
++class BVHDistanceTraversalNode
+     : public DistanceTraversalNodeBase<typename BV::S>
+ {
+ public:
+diff --git a/include/fcl/narrowphase/detail/traversal/distance/bvh_shape_distance_traversal_node.h b/include/fcl/narrowphase/detail/traversal/distance/bvh_shape_distance_traversal_node.h
+index 50f4fc2..8231fc9 100644
+--- a/include/fcl/narrowphase/detail/traversal/distance/bvh_shape_distance_traversal_node.h
++++ b/include/fcl/narrowphase/detail/traversal/distance/bvh_shape_distance_traversal_node.h
+@@ -49,7 +49,7 @@ namespace detail
+ 
+ /// @brief Traversal node for distance computation between BVH and shape
+ template<typename BV, typename Shape>
+-class FCL_EXPORT BVHShapeDistanceTraversalNode
++class BVHShapeDistanceTraversalNode
+     : public DistanceTraversalNodeBase<typename BV::S>
+ {
+ public:
+diff --git a/include/fcl/narrowphase/detail/traversal/distance/conservative_advancement_stack_data.h b/include/fcl/narrowphase/detail/traversal/distance/conservative_advancement_stack_data.h
+index fb95a94..b372f84 100644
+--- a/include/fcl/narrowphase/detail/traversal/distance/conservative_advancement_stack_data.h
++++ b/include/fcl/narrowphase/detail/traversal/distance/conservative_advancement_stack_data.h
+@@ -47,7 +47,7 @@ namespace detail
+ {
+ 
+ template <typename S>
+-struct FCL_EXPORT ConservativeAdvancementStackData
++struct ConservativeAdvancementStackData
+ {
+   ConservativeAdvancementStackData(
+       const Vector3<S>& P1_,
+diff --git a/include/fcl/narrowphase/detail/traversal/distance/distance_traversal_node_base-inl.h b/include/fcl/narrowphase/detail/traversal/distance/distance_traversal_node_base-inl.h
+index 5fbeb5e..763179b 100644
+--- a/include/fcl/narrowphase/detail/traversal/distance/distance_traversal_node_base-inl.h
++++ b/include/fcl/narrowphase/detail/traversal/distance/distance_traversal_node_base-inl.h
+@@ -50,7 +50,7 @@ namespace detail
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT DistanceTraversalNodeBase<double>;
++class DistanceTraversalNodeBase<double>;
+ 
+ //==============================================================================
+ template <typename S>
+diff --git a/include/fcl/narrowphase/detail/traversal/distance/distance_traversal_node_base.h b/include/fcl/narrowphase/detail/traversal/distance/distance_traversal_node_base.h
+index e4a69a2..72437ed 100644
+--- a/include/fcl/narrowphase/detail/traversal/distance/distance_traversal_node_base.h
++++ b/include/fcl/narrowphase/detail/traversal/distance/distance_traversal_node_base.h
+@@ -50,7 +50,7 @@ namespace detail
+ 
+ /// @brief Node structure encoding the information required for distance traversal.
+ template <typename S>
+-class FCL_EXPORT DistanceTraversalNodeBase : public TraversalNodeBase<S>
++class DistanceTraversalNodeBase : public TraversalNodeBase<S>
+ {
+ public:
+   DistanceTraversalNodeBase();
+diff --git a/include/fcl/narrowphase/detail/traversal/distance/mesh_conservative_advancement_traversal_node-inl.h b/include/fcl/narrowphase/detail/traversal/distance/mesh_conservative_advancement_traversal_node-inl.h
+index 44ddde5..3358c61 100644
+--- a/include/fcl/narrowphase/detail/traversal/distance/mesh_conservative_advancement_traversal_node-inl.h
++++ b/include/fcl/narrowphase/detail/traversal/distance/mesh_conservative_advancement_traversal_node-inl.h
+@@ -51,7 +51,7 @@ namespace detail
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT MeshConservativeAdvancementTraversalNodeRSS<double>;
++class MeshConservativeAdvancementTraversalNodeRSS<double>;
+ 
+ //==============================================================================
+ extern template
+@@ -65,7 +65,7 @@ bool initialize(
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT MeshConservativeAdvancementTraversalNodeOBBRSS<double>;
++class MeshConservativeAdvancementTraversalNodeOBBRSS<double>;
+ 
+ //==============================================================================
+ extern template
+diff --git a/include/fcl/narrowphase/detail/traversal/distance/mesh_conservative_advancement_traversal_node.h b/include/fcl/narrowphase/detail/traversal/distance/mesh_conservative_advancement_traversal_node.h
+index be72620..3f8035a 100644
+--- a/include/fcl/narrowphase/detail/traversal/distance/mesh_conservative_advancement_traversal_node.h
++++ b/include/fcl/narrowphase/detail/traversal/distance/mesh_conservative_advancement_traversal_node.h
+@@ -50,7 +50,7 @@ namespace detail
+ 
+ /// @brief continuous collision node using conservative advancement. when using this default version, must refit the BVH in current configuration (R_t, T_t) into default configuration
+ template <typename BV>
+-class FCL_EXPORT MeshConservativeAdvancementTraversalNode
++class MeshConservativeAdvancementTraversalNode
+     : public MeshDistanceTraversalNode<BV>
+ {
+ public:
+@@ -97,7 +97,6 @@ public:
+ /// @brief Initialize traversal node for conservative advancement computation
+ /// between two meshes, given the current transforms
+ template <typename BV>
+-FCL_EXPORT
+ bool initialize(
+     MeshConservativeAdvancementTraversalNode<BV>& node,
+     BVHModel<BV>& model1,
+@@ -109,7 +108,7 @@ bool initialize(
+     bool refit_bottomup = false);
+ 
+ template <typename S>
+-class FCL_EXPORT MeshConservativeAdvancementTraversalNodeRSS
++class MeshConservativeAdvancementTraversalNodeRSS
+     : public MeshConservativeAdvancementTraversalNode<RSS<S>>
+ {
+ public:
+@@ -150,7 +149,6 @@ using MeshConservativeAdvancementTraversalNodeRSSd = MeshConservativeAdvancement
+ /// @brief Initialize traversal node for conservative advancement computation
+ /// between two meshes, given the current transforms, specialized for RSS
+ template <typename S>
+-FCL_EXPORT
+ bool initialize(
+     MeshConservativeAdvancementTraversalNodeRSS<S>& node,
+     const BVHModel<RSS<S>>& model1,
+@@ -160,7 +158,7 @@ bool initialize(
+     S w = 1);
+ 
+ template <typename S>
+-class FCL_EXPORT MeshConservativeAdvancementTraversalNodeOBBRSS
++class MeshConservativeAdvancementTraversalNodeOBBRSS
+     : public MeshConservativeAdvancementTraversalNode<OBBRSS<S>>
+ {
+ public:
+@@ -199,7 +197,6 @@ using MeshConservativeAdvancementTraversalNodeOBBRSSf = MeshConservativeAdvancem
+ using MeshConservativeAdvancementTraversalNodeOBBRSSd = MeshConservativeAdvancementTraversalNodeOBBRSS<double>;
+ 
+ template <typename S>
+-FCL_EXPORT
+ bool initialize(
+     MeshConservativeAdvancementTraversalNodeOBBRSS<S>& node,
+     const BVHModel<OBBRSS<S>>& model1,
+@@ -209,11 +206,9 @@ bool initialize(
+     S w = 1);
+ 
+ template <typename S, typename BV>
+-FCL_EXPORT
+ const Vector3<S> getBVAxis(const BV& bv, int i);
+ 
+ template <typename BV>
+-FCL_EXPORT
+ bool meshConservativeAdvancementTraversalNodeCanStop(
+     typename BV::S c,
+     typename BV::S min_distance,
+@@ -228,7 +223,6 @@ bool meshConservativeAdvancementTraversalNodeCanStop(
+     typename BV::S& delta_t);
+ 
+ template <typename BV>
+-FCL_EXPORT
+ bool meshConservativeAdvancementOrientedNodeCanStop(
+     typename BV::S c,
+     typename BV::S min_distance,
+@@ -243,7 +237,6 @@ bool meshConservativeAdvancementOrientedNodeCanStop(
+     typename BV::S& delta_t);
+ 
+ template <typename BV>
+-FCL_EXPORT
+ void meshConservativeAdvancementOrientedNodeLeafTesting(
+     int b1,
+     int b2,
+diff --git a/include/fcl/narrowphase/detail/traversal/distance/mesh_distance_traversal_node-inl.h b/include/fcl/narrowphase/detail/traversal/distance/mesh_distance_traversal_node-inl.h
+index 558149d..c4e0086 100644
+--- a/include/fcl/narrowphase/detail/traversal/distance/mesh_distance_traversal_node-inl.h
++++ b/include/fcl/narrowphase/detail/traversal/distance/mesh_distance_traversal_node-inl.h
+@@ -48,7 +48,7 @@ namespace detail
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT MeshDistanceTraversalNodeRSS<double>;
++class MeshDistanceTraversalNodeRSS<double>;
+ 
+ //==============================================================================
+ extern template
+@@ -63,7 +63,7 @@ bool initialize(
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT MeshDistanceTraversalNodekIOS<double>;
++class MeshDistanceTraversalNodekIOS<double>;
+ 
+ //==============================================================================
+ extern template
+@@ -78,7 +78,7 @@ bool initialize(
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT MeshDistanceTraversalNodeOBBRSS<double>;
++class MeshDistanceTraversalNodeOBBRSS<double>;
+ 
+ //==============================================================================
+ extern template
+diff --git a/include/fcl/narrowphase/detail/traversal/distance/mesh_distance_traversal_node.h b/include/fcl/narrowphase/detail/traversal/distance/mesh_distance_traversal_node.h
+index 92f4461..e119e2a 100644
+--- a/include/fcl/narrowphase/detail/traversal/distance/mesh_distance_traversal_node.h
++++ b/include/fcl/narrowphase/detail/traversal/distance/mesh_distance_traversal_node.h
+@@ -52,7 +52,7 @@ namespace detail
+ 
+ /// @brief Traversal node for distance computation between two meshes
+ template <typename BV>
+-class FCL_EXPORT MeshDistanceTraversalNode : public BVHDistanceTraversalNode<BV>
++class MeshDistanceTraversalNode : public BVHDistanceTraversalNode<BV>
+ {
+ public:
+ 
+@@ -80,7 +80,6 @@ public:
+ /// @brief Initialize traversal node for distance computation between two
+ /// meshes, given the current transforms
+ template <typename BV>
+-FCL_EXPORT
+ bool initialize(
+     MeshDistanceTraversalNode<BV>& node,
+     BVHModel<BV>& model1,
+@@ -93,7 +92,7 @@ bool initialize(
+ 
+ /// @brief Traversal node for distance computation between two meshes if their underlying BVH node is oriented node (RSS, OBBRSS, kIOS)
+ template <typename S>
+-class FCL_EXPORT MeshDistanceTraversalNodeRSS
++class MeshDistanceTraversalNodeRSS
+     : public MeshDistanceTraversalNode<RSS<S>>
+ {
+ public:
+@@ -123,7 +122,6 @@ using MeshDistanceTraversalNodeRSSd = MeshDistanceTraversalNodeRSS<double>;
+ /// @brief Initialize traversal node for distance computation between two
+ ///  meshes, specialized for RSS type
+ template <typename S>
+-FCL_EXPORT
+ bool initialize(
+     MeshDistanceTraversalNodeRSS<S>& node,
+     const BVHModel<RSS<S>>& model1,
+@@ -134,7 +132,7 @@ bool initialize(
+     DistanceResult<S>& result);
+ 
+ template <typename S>
+-class FCL_EXPORT MeshDistanceTraversalNodekIOS
++class MeshDistanceTraversalNodekIOS
+     : public MeshDistanceTraversalNode<kIOS<S>>
+ {
+ public:
+@@ -164,7 +162,6 @@ using MeshDistanceTraversalNodekIOSd = MeshDistanceTraversalNodekIOS<double>;
+ /// @brief Initialize traversal node for distance computation between two
+ ///  meshes, specialized for kIOS type
+ template <typename S>
+-FCL_EXPORT
+ bool initialize(
+     MeshDistanceTraversalNodekIOS<S>& node,
+     const BVHModel<kIOS<S>>& model1,
+@@ -175,7 +172,7 @@ bool initialize(
+     DistanceResult<S>& result);
+ 
+ template <typename S>
+-class FCL_EXPORT MeshDistanceTraversalNodeOBBRSS
++class MeshDistanceTraversalNodeOBBRSS
+     : public MeshDistanceTraversalNode<OBBRSS<S>>
+ {
+ public:
+@@ -205,7 +202,6 @@ using MeshDistanceTraversalNodeOBBRSSd = MeshDistanceTraversalNodeOBBRSS<double>
+ /// @brief Initialize traversal node for distance computation between two
+ ///  meshes, specialized for OBBRSS type
+ template <typename S>
+-FCL_EXPORT
+ bool initialize(
+     MeshDistanceTraversalNodeOBBRSS<S>& node,
+     const BVHModel<OBBRSS<S>>& model1,
+@@ -216,7 +212,7 @@ bool initialize(
+     DistanceResult<S>& result);
+ 
+ template <typename BV>
+-FCL_DEPRECATED_EXPORT
++FCL_DEPRECATED
+ void meshDistanceOrientedNodeLeafTesting(
+     int b1,
+     int b2,
+@@ -234,7 +230,6 @@ void meshDistanceOrientedNodeLeafTesting(
+     DistanceResult<typename BV::S>& result);
+ 
+ template <typename BV>
+-FCL_EXPORT
+ void meshDistanceOrientedNodeLeafTesting(
+     int b1,
+     int b2,
+@@ -251,7 +246,6 @@ void meshDistanceOrientedNodeLeafTesting(
+     DistanceResult<typename BV::S>& result);
+ 
+ template <typename BV>
+-FCL_EXPORT
+ void distancePreprocessOrientedNode(
+     const BVHModel<BV>* model1,
+     const BVHModel<BV>* model2,
+@@ -267,7 +261,6 @@ void distancePreprocessOrientedNode(
+     DistanceResult<typename BV::S>& result);
+ 
+ template <typename BV>
+-FCL_EXPORT
+ void distancePreprocessOrientedNode(
+     const BVHModel<BV>* model1,
+     const BVHModel<BV>* model2,
+@@ -282,7 +275,6 @@ void distancePreprocessOrientedNode(
+     DistanceResult<typename BV::S>& result);
+ 
+ template <typename BV>
+-FCL_EXPORT
+ void distancePostprocessOrientedNode(
+     const BVHModel<BV>* model1,
+     const BVHModel<BV>* model2,
+diff --git a/include/fcl/narrowphase/detail/traversal/distance/mesh_shape_conservative_advancement_traversal_node.h b/include/fcl/narrowphase/detail/traversal/distance/mesh_shape_conservative_advancement_traversal_node.h
+index a9f8d75..68b97ec 100644
+--- a/include/fcl/narrowphase/detail/traversal/distance/mesh_shape_conservative_advancement_traversal_node.h
++++ b/include/fcl/narrowphase/detail/traversal/distance/mesh_shape_conservative_advancement_traversal_node.h
+@@ -49,7 +49,7 @@ namespace detail
+ 
+ /// @brief Traversal node for conservative advancement computation between BVH and shape
+ template <typename BV, typename Shape, typename NarrowPhaseSolver>
+-class FCL_EXPORT MeshShapeConservativeAdvancementTraversalNode
++class MeshShapeConservativeAdvancementTraversalNode
+     : public MeshShapeDistanceTraversalNode<BV, Shape, NarrowPhaseSolver>
+ {
+ public:
+@@ -140,7 +140,7 @@ bool meshShapeConservativeAdvancementOrientedNodeCanStop(
+     typename BV::S& delta_t);
+ 
+ template <typename Shape, typename NarrowPhaseSolver>
+-class FCL_EXPORT MeshShapeConservativeAdvancementTraversalNodeRSS
++class MeshShapeConservativeAdvancementTraversalNodeRSS
+     : public MeshShapeConservativeAdvancementTraversalNode<
+     RSS<typename Shape::S>, Shape, NarrowPhaseSolver>
+ {
+@@ -168,7 +168,7 @@ bool initialize(
+     typename Shape::S w = 1);
+ 
+ template <typename Shape, typename NarrowPhaseSolver>
+-class FCL_EXPORT MeshShapeConservativeAdvancementTraversalNodeOBBRSS :
++class MeshShapeConservativeAdvancementTraversalNodeOBBRSS :
+     public MeshShapeConservativeAdvancementTraversalNode<
+     OBBRSS<typename Shape::S>, Shape, NarrowPhaseSolver>
+ {
+diff --git a/include/fcl/narrowphase/detail/traversal/distance/mesh_shape_distance_traversal_node.h b/include/fcl/narrowphase/detail/traversal/distance/mesh_shape_distance_traversal_node.h
+index 0d40e2e..058a5c8 100644
+--- a/include/fcl/narrowphase/detail/traversal/distance/mesh_shape_distance_traversal_node.h
++++ b/include/fcl/narrowphase/detail/traversal/distance/mesh_shape_distance_traversal_node.h
+@@ -49,7 +49,7 @@ namespace detail
+ 
+ /// @brief Traversal node for distance between mesh and shape
+ template <typename BV, typename Shape, typename NarrowPhaseSolver>
+-class FCL_EXPORT MeshShapeDistanceTraversalNode
++class MeshShapeDistanceTraversalNode
+     : public BVHShapeDistanceTraversalNode<BV, Shape>
+ { 
+ public:
+@@ -118,7 +118,7 @@ bool initialize(
+ 
+ /// @brief Traversal node for distance between mesh and shape, when mesh BVH is one of the oriented node (RSS, OBBRSS, kIOS)
+ template <typename Shape, typename NarrowPhaseSolver>
+-class FCL_EXPORT MeshShapeDistanceTraversalNodeRSS
++class MeshShapeDistanceTraversalNodeRSS
+     : public MeshShapeDistanceTraversalNode<
+     RSS<typename Shape::S>, Shape, NarrowPhaseSolver>
+ {
+@@ -148,7 +148,7 @@ bool initialize(
+     DistanceResult<typename Shape::S>& result);
+ 
+ template <typename Shape, typename NarrowPhaseSolver>
+-class FCL_EXPORT MeshShapeDistanceTraversalNodekIOS
++class MeshShapeDistanceTraversalNodekIOS
+     : public MeshShapeDistanceTraversalNode<kIOS<typename Shape::S>, Shape, NarrowPhaseSolver>
+ {
+ public:
+@@ -177,7 +177,7 @@ bool initialize(
+     DistanceResult<typename Shape::S>& result);
+ 
+ template <typename Shape, typename NarrowPhaseSolver>
+-class FCL_EXPORT MeshShapeDistanceTraversalNodeOBBRSS
++class MeshShapeDistanceTraversalNodeOBBRSS
+     : public MeshShapeDistanceTraversalNode<OBBRSS<typename Shape::S>, Shape, NarrowPhaseSolver>
+ {
+ public:
+diff --git a/include/fcl/narrowphase/detail/traversal/distance/shape_bvh_distance_traversal_node.h b/include/fcl/narrowphase/detail/traversal/distance/shape_bvh_distance_traversal_node.h
+index 53176cf..3d176a0 100644
+--- a/include/fcl/narrowphase/detail/traversal/distance/shape_bvh_distance_traversal_node.h
++++ b/include/fcl/narrowphase/detail/traversal/distance/shape_bvh_distance_traversal_node.h
+@@ -50,7 +50,7 @@ namespace detail
+ 
+ /// @brief Traversal node for distance computation between shape and BVH
+ template<typename Shape, typename BV>
+-class FCL_EXPORT ShapeBVHDistanceTraversalNode
++class ShapeBVHDistanceTraversalNode
+     : public DistanceTraversalNodeBase<typename BV::S>
+ {
+ public:
+diff --git a/include/fcl/narrowphase/detail/traversal/distance/shape_conservative_advancement_traversal_node.h b/include/fcl/narrowphase/detail/traversal/distance/shape_conservative_advancement_traversal_node.h
+index 525df72..3e92008 100644
+--- a/include/fcl/narrowphase/detail/traversal/distance/shape_conservative_advancement_traversal_node.h
++++ b/include/fcl/narrowphase/detail/traversal/distance/shape_conservative_advancement_traversal_node.h
+@@ -47,7 +47,7 @@ namespace detail
+ {
+ 
+ template<typename Shape1, typename Shape2, typename NarrowPhaseSolver>
+-class FCL_EXPORT ShapeConservativeAdvancementTraversalNode
++class ShapeConservativeAdvancementTraversalNode
+     : public ShapeDistanceTraversalNode<Shape1, Shape2, NarrowPhaseSolver>
+ {
+ public:
+diff --git a/include/fcl/narrowphase/detail/traversal/distance/shape_distance_traversal_node.h b/include/fcl/narrowphase/detail/traversal/distance/shape_distance_traversal_node.h
+index bfd1e1f..ad74992 100644
+--- a/include/fcl/narrowphase/detail/traversal/distance/shape_distance_traversal_node.h
++++ b/include/fcl/narrowphase/detail/traversal/distance/shape_distance_traversal_node.h
+@@ -49,7 +49,7 @@ namespace detail
+ 
+ /// @brief Traversal node for distance between two shapes
+ template<typename Shape1, typename Shape2, typename NarrowPhaseSolver>
+-class FCL_EXPORT ShapeDistanceTraversalNode
++class ShapeDistanceTraversalNode
+     : public DistanceTraversalNodeBase<typename Shape1::S>
+ {
+ public:
+diff --git a/include/fcl/narrowphase/detail/traversal/distance/shape_mesh_conservative_advancement_traversal_node.h b/include/fcl/narrowphase/detail/traversal/distance/shape_mesh_conservative_advancement_traversal_node.h
+index bf54940..069491b 100644
+--- a/include/fcl/narrowphase/detail/traversal/distance/shape_mesh_conservative_advancement_traversal_node.h
++++ b/include/fcl/narrowphase/detail/traversal/distance/shape_mesh_conservative_advancement_traversal_node.h
+@@ -49,7 +49,7 @@ namespace detail
+ {
+ 
+ template <typename Shape, typename BV, typename NarrowPhaseSolver>
+-class FCL_EXPORT ShapeMeshConservativeAdvancementTraversalNode
++class ShapeMeshConservativeAdvancementTraversalNode
+     : public ShapeMeshDistanceTraversalNode<Shape, BV, NarrowPhaseSolver>
+ {
+ public:
+@@ -103,7 +103,7 @@ bool initialize(
+     bool refit_bottomup = false);
+ 
+ template <typename Shape, typename NarrowPhaseSolver>
+-class FCL_EXPORT ShapeMeshConservativeAdvancementTraversalNodeRSS
++class ShapeMeshConservativeAdvancementTraversalNodeRSS
+     : public ShapeMeshConservativeAdvancementTraversalNode<
+     Shape, RSS<typename Shape::S>, NarrowPhaseSolver>
+ {
+@@ -130,7 +130,7 @@ bool initialize(
+     typename Shape::S w = 1);
+ 
+ template <typename Shape, typename NarrowPhaseSolver>
+-class FCL_EXPORT ShapeMeshConservativeAdvancementTraversalNodeOBBRSS
++class ShapeMeshConservativeAdvancementTraversalNodeOBBRSS
+     : public ShapeMeshConservativeAdvancementTraversalNode<
+     Shape, OBBRSS<typename Shape::S>, NarrowPhaseSolver>
+ {
+diff --git a/include/fcl/narrowphase/detail/traversal/distance/shape_mesh_distance_traversal_node-inl.h b/include/fcl/narrowphase/detail/traversal/distance/shape_mesh_distance_traversal_node-inl.h
+index cdf8c8d..c059ed1 100644
+--- a/include/fcl/narrowphase/detail/traversal/distance/shape_mesh_distance_traversal_node-inl.h
++++ b/include/fcl/narrowphase/detail/traversal/distance/shape_mesh_distance_traversal_node-inl.h
+@@ -108,7 +108,6 @@ bool ShapeMeshDistanceTraversalNode<Shape, BV, NarrowPhaseSolver>::canStop(S c)
+ 
+ //==============================================================================
+ template <typename Shape, typename BV, typename NarrowPhaseSolver>
+-FCL_EXPORT
+ bool initialize(
+     ShapeMeshDistanceTraversalNode<Shape, BV, NarrowPhaseSolver>& node,
+     const Shape& model1,
+@@ -349,7 +348,6 @@ static bool setupShapeMeshDistanceOrientedNode(OrientedNode<Shape, NarrowPhaseSo
+ 
+ //==============================================================================
+ template <typename Shape, typename NarrowPhaseSolver>
+-FCL_EXPORT
+ bool initialize(ShapeMeshDistanceTraversalNodeRSS<Shape, NarrowPhaseSolver>& node,
+                 const Shape& model1, const Transform3<typename Shape::S>& tf1,
+                 const BVHModel<RSS<typename Shape::S>>& model2, const Transform3<typename Shape::S>& tf2,
+@@ -362,7 +360,6 @@ bool initialize(ShapeMeshDistanceTraversalNodeRSS<Shape, NarrowPhaseSolver>& nod
+ 
+ //==============================================================================
+ template <typename Shape, typename NarrowPhaseSolver>
+-FCL_EXPORT
+ bool initialize(ShapeMeshDistanceTraversalNodekIOS<Shape, NarrowPhaseSolver>& node,
+                 const Shape& model1, const Transform3<typename Shape::S>& tf1,
+                 const BVHModel<kIOS<typename Shape::S>>& model2, const Transform3<typename Shape::S>& tf2,
+@@ -375,7 +372,6 @@ bool initialize(ShapeMeshDistanceTraversalNodekIOS<Shape, NarrowPhaseSolver>& no
+ 
+ //==============================================================================
+ template <typename Shape, typename NarrowPhaseSolver>
+-FCL_EXPORT
+ bool initialize(ShapeMeshDistanceTraversalNodeOBBRSS<Shape, NarrowPhaseSolver>& node,
+                 const Shape& model1, const Transform3<typename Shape::S>& tf1,
+                 const BVHModel<OBBRSS<typename Shape::S>>& model2, const Transform3<typename Shape::S>& tf2,
+diff --git a/include/fcl/narrowphase/detail/traversal/distance/shape_mesh_distance_traversal_node.h b/include/fcl/narrowphase/detail/traversal/distance/shape_mesh_distance_traversal_node.h
+index 438f205..1777b8a 100644
+--- a/include/fcl/narrowphase/detail/traversal/distance/shape_mesh_distance_traversal_node.h
++++ b/include/fcl/narrowphase/detail/traversal/distance/shape_mesh_distance_traversal_node.h
+@@ -49,7 +49,7 @@ namespace detail
+ 
+ /// @brief Traversal node for distance between shape and mesh
+ template <typename Shape, typename BV, typename NarrowPhaseSolver>
+-class FCL_EXPORT ShapeMeshDistanceTraversalNode
++class ShapeMeshDistanceTraversalNode
+     : public ShapeBVHDistanceTraversalNode<Shape, BV>
+ { 
+ public:
+@@ -89,7 +89,7 @@ bool initialize(
+     bool refit_bottomup = false);
+ 
+ template <typename Shape, typename NarrowPhaseSolver>
+-class FCL_EXPORT ShapeMeshDistanceTraversalNodeRSS
++class ShapeMeshDistanceTraversalNodeRSS
+     : public ShapeMeshDistanceTraversalNode<
+     Shape, RSS<typename Shape::S>, NarrowPhaseSolver>
+ {
+@@ -123,7 +123,7 @@ bool initialize(
+     DistanceResult<typename Shape::S>& result);
+ 
+ template <typename Shape, typename NarrowPhaseSolver>
+-class FCL_EXPORT ShapeMeshDistanceTraversalNodekIOS
++class ShapeMeshDistanceTraversalNodekIOS
+     : public ShapeMeshDistanceTraversalNode<
+     Shape, kIOS<typename Shape::S>, NarrowPhaseSolver>
+ {
+@@ -157,7 +157,7 @@ bool initialize(
+     DistanceResult<typename Shape::S>& result);
+ 
+ template <typename Shape, typename NarrowPhaseSolver>
+-class FCL_EXPORT ShapeMeshDistanceTraversalNodeOBBRSS
++class ShapeMeshDistanceTraversalNodeOBBRSS
+     : public ShapeMeshDistanceTraversalNode<
+     Shape, OBBRSS<typename Shape::S>, NarrowPhaseSolver>
+ {
+diff --git a/include/fcl/narrowphase/detail/traversal/octree/collision/mesh_octree_collision_traversal_node.h b/include/fcl/narrowphase/detail/traversal/octree/collision/mesh_octree_collision_traversal_node.h
+index 2792dd2..f060a66 100644
+--- a/include/fcl/narrowphase/detail/traversal/octree/collision/mesh_octree_collision_traversal_node.h
++++ b/include/fcl/narrowphase/detail/traversal/octree/collision/mesh_octree_collision_traversal_node.h
+@@ -56,7 +56,7 @@ namespace detail
+ 
+ /// @brief Traversal node for mesh-octree collision
+ template <typename BV, typename NarrowPhaseSolver>
+-class FCL_EXPORT MeshOcTreeCollisionTraversalNode
++class MeshOcTreeCollisionTraversalNode
+     : public CollisionTraversalNodeBase<typename BV::S>
+ {
+ public:
+diff --git a/include/fcl/narrowphase/detail/traversal/octree/collision/octree_collision_traversal_node.h b/include/fcl/narrowphase/detail/traversal/octree/collision/octree_collision_traversal_node.h
+index 5420082..d51f77e 100644
+--- a/include/fcl/narrowphase/detail/traversal/octree/collision/octree_collision_traversal_node.h
++++ b/include/fcl/narrowphase/detail/traversal/octree/collision/octree_collision_traversal_node.h
+@@ -55,7 +55,7 @@ namespace detail
+ 
+ /// @brief Traversal node for octree collision
+ template <typename NarrowPhaseSolver>
+-class FCL_EXPORT OcTreeCollisionTraversalNode
++class OcTreeCollisionTraversalNode
+     : public CollisionTraversalNodeBase<typename NarrowPhaseSolver::S>
+ {
+ public:
+diff --git a/include/fcl/narrowphase/detail/traversal/octree/collision/octree_mesh_collision_traversal_node.h b/include/fcl/narrowphase/detail/traversal/octree/collision/octree_mesh_collision_traversal_node.h
+index a5b904c..0a8980d 100644
+--- a/include/fcl/narrowphase/detail/traversal/octree/collision/octree_mesh_collision_traversal_node.h
++++ b/include/fcl/narrowphase/detail/traversal/octree/collision/octree_mesh_collision_traversal_node.h
+@@ -56,7 +56,7 @@ namespace detail
+ 
+ /// @brief Traversal node for octree-mesh collision
+ template <typename BV, typename NarrowPhaseSolver>
+-class FCL_EXPORT OcTreeMeshCollisionTraversalNode
++class OcTreeMeshCollisionTraversalNode
+     : public CollisionTraversalNodeBase<typename BV::S>
+ {
+ public:
+diff --git a/include/fcl/narrowphase/detail/traversal/octree/collision/octree_shape_collision_traversal_node.h b/include/fcl/narrowphase/detail/traversal/octree/collision/octree_shape_collision_traversal_node.h
+index 4668dd1..71c7a72 100644
+--- a/include/fcl/narrowphase/detail/traversal/octree/collision/octree_shape_collision_traversal_node.h
++++ b/include/fcl/narrowphase/detail/traversal/octree/collision/octree_shape_collision_traversal_node.h
+@@ -56,7 +56,7 @@ namespace detail
+ 
+ /// @brief Traversal node for octree-shape collision
+ template <typename Shape, typename NarrowPhaseSolver>
+-class FCL_EXPORT OcTreeShapeCollisionTraversalNode
++class OcTreeShapeCollisionTraversalNode
+     : public CollisionTraversalNodeBase<typename Shape::S>
+ {
+ public:
+diff --git a/include/fcl/narrowphase/detail/traversal/octree/collision/shape_octree_collision_traversal_node.h b/include/fcl/narrowphase/detail/traversal/octree/collision/shape_octree_collision_traversal_node.h
+index c08ddcc..002e5b6 100644
+--- a/include/fcl/narrowphase/detail/traversal/octree/collision/shape_octree_collision_traversal_node.h
++++ b/include/fcl/narrowphase/detail/traversal/octree/collision/shape_octree_collision_traversal_node.h
+@@ -56,7 +56,7 @@ namespace detail
+ 
+ /// @brief Traversal node for shape-octree collision
+ template <typename Shape, typename NarrowPhaseSolver>
+-class FCL_EXPORT ShapeOcTreeCollisionTraversalNode
++class ShapeOcTreeCollisionTraversalNode
+     : public CollisionTraversalNodeBase<typename Shape::S>
+ {
+ public:
+diff --git a/include/fcl/narrowphase/detail/traversal/octree/distance/mesh_octree_distance_traversal_node.h b/include/fcl/narrowphase/detail/traversal/octree/distance/mesh_octree_distance_traversal_node.h
+index b299e78..cafb22e 100644
+--- a/include/fcl/narrowphase/detail/traversal/octree/distance/mesh_octree_distance_traversal_node.h
++++ b/include/fcl/narrowphase/detail/traversal/octree/distance/mesh_octree_distance_traversal_node.h
+@@ -56,7 +56,7 @@ namespace detail
+ 
+ /// @brief Traversal node for mesh-octree distance
+ template <typename BV, typename NarrowPhaseSolver>
+-class FCL_EXPORT MeshOcTreeDistanceTraversalNode
++class MeshOcTreeDistanceTraversalNode
+     : public DistanceTraversalNodeBase<typename BV::S>
+ {
+ public:
+diff --git a/include/fcl/narrowphase/detail/traversal/octree/distance/octree_distance_traversal_node.h b/include/fcl/narrowphase/detail/traversal/octree/distance/octree_distance_traversal_node.h
+index fcef5cc..39b75c5 100644
+--- a/include/fcl/narrowphase/detail/traversal/octree/distance/octree_distance_traversal_node.h
++++ b/include/fcl/narrowphase/detail/traversal/octree/distance/octree_distance_traversal_node.h
+@@ -55,7 +55,7 @@ namespace detail
+ 
+ /// @brief Traversal node for octree distance
+ template <typename NarrowPhaseSolver>
+-class FCL_EXPORT OcTreeDistanceTraversalNode
++class OcTreeDistanceTraversalNode
+     : public DistanceTraversalNodeBase<typename NarrowPhaseSolver::S>
+ {
+ public:
+diff --git a/include/fcl/narrowphase/detail/traversal/octree/distance/octree_mesh_distance_traversal_node.h b/include/fcl/narrowphase/detail/traversal/octree/distance/octree_mesh_distance_traversal_node.h
+index c1a8cc2..726309b 100644
+--- a/include/fcl/narrowphase/detail/traversal/octree/distance/octree_mesh_distance_traversal_node.h
++++ b/include/fcl/narrowphase/detail/traversal/octree/distance/octree_mesh_distance_traversal_node.h
+@@ -56,7 +56,7 @@ namespace detail
+ 
+ /// @brief Traversal node for octree-mesh distance
+ template <typename BV, typename NarrowPhaseSolver>
+-class FCL_EXPORT OcTreeMeshDistanceTraversalNode
++class OcTreeMeshDistanceTraversalNode
+     : public DistanceTraversalNodeBase<typename BV::S>
+ {
+ public:
+diff --git a/include/fcl/narrowphase/detail/traversal/octree/distance/octree_shape_distance_traversal_node.h b/include/fcl/narrowphase/detail/traversal/octree/distance/octree_shape_distance_traversal_node.h
+index bf7abd9..1cad7e1 100644
+--- a/include/fcl/narrowphase/detail/traversal/octree/distance/octree_shape_distance_traversal_node.h
++++ b/include/fcl/narrowphase/detail/traversal/octree/distance/octree_shape_distance_traversal_node.h
+@@ -56,7 +56,7 @@ namespace detail
+ 
+ /// @brief Traversal node for octree-shape distance
+ template <typename Shape, typename NarrowPhaseSolver>
+-class FCL_EXPORT OcTreeShapeDistanceTraversalNode
++class OcTreeShapeDistanceTraversalNode
+     : public DistanceTraversalNodeBase<typename Shape::S>
+ {
+ public:
+diff --git a/include/fcl/narrowphase/detail/traversal/octree/distance/shape_octree_distance_traversal_node.h b/include/fcl/narrowphase/detail/traversal/octree/distance/shape_octree_distance_traversal_node.h
+index 8b731e1..3e4041e 100644
+--- a/include/fcl/narrowphase/detail/traversal/octree/distance/shape_octree_distance_traversal_node.h
++++ b/include/fcl/narrowphase/detail/traversal/octree/distance/shape_octree_distance_traversal_node.h
+@@ -56,7 +56,7 @@ namespace detail
+ 
+ /// @brief Traversal node for shape-octree distance
+ template <typename Shape, typename NarrowPhaseSolver>
+-class FCL_EXPORT ShapeOcTreeDistanceTraversalNode
++class ShapeOcTreeDistanceTraversalNode
+     : public DistanceTraversalNodeBase<typename Shape::S>
+ {
+ public:
+diff --git a/include/fcl/narrowphase/detail/traversal/octree/octree_solver.h b/include/fcl/narrowphase/detail/traversal/octree/octree_solver.h
+index a10d835..961103a 100644
+--- a/include/fcl/narrowphase/detail/traversal/octree/octree_solver.h
++++ b/include/fcl/narrowphase/detail/traversal/octree/octree_solver.h
+@@ -56,7 +56,7 @@ namespace detail
+ 
+ /// @brief Algorithms for collision related with octree
+ template <typename NarrowPhaseSolver>
+-class FCL_EXPORT OcTreeSolver
++class OcTreeSolver
+ {
+ private:
+ 
+diff --git a/include/fcl/narrowphase/detail/traversal/traversal_node_base-inl.h b/include/fcl/narrowphase/detail/traversal/traversal_node_base-inl.h
+index 96d849b..9ff776e 100644
+--- a/include/fcl/narrowphase/detail/traversal/traversal_node_base-inl.h
++++ b/include/fcl/narrowphase/detail/traversal/traversal_node_base-inl.h
+@@ -50,7 +50,7 @@ namespace detail
+ 
+ //==============================================================================
+ extern template
+-class FCL_EXPORT TraversalNodeBase<double>;
++class TraversalNodeBase<double>;
+ 
+ //==============================================================================
+ template <typename S>
+diff --git a/include/fcl/narrowphase/detail/traversal/traversal_node_base.h b/include/fcl/narrowphase/detail/traversal/traversal_node_base.h
+index 2f3b187..abcc4eb 100644
+--- a/include/fcl/narrowphase/detail/traversal/traversal_node_base.h
++++ b/include/fcl/narrowphase/detail/traversal/traversal_node_base.h
+@@ -48,7 +48,7 @@ namespace detail
+ 
+ /// @brief Node structure encoding the information required for traversal.
+ template <typename S>
+-class FCL_EXPORT TraversalNodeBase
++class TraversalNodeBase
+ {
+ public:
+   virtual ~TraversalNodeBase();
+diff --git a/include/fcl/narrowphase/detail/traversal/traversal_recurse-inl.h b/include/fcl/narrowphase/detail/traversal/traversal_recurse-inl.h
+index 1c46c1c..5d9704b 100644
+--- a/include/fcl/narrowphase/detail/traversal/traversal_recurse-inl.h
++++ b/include/fcl/narrowphase/detail/traversal/traversal_recurse-inl.h
+@@ -80,7 +80,6 @@ void propagateBVHFrontListCollisionRecurse(CollisionTraversalNodeBase<double>* n
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void collisionRecurse(CollisionTraversalNodeBase<S>* node, int b1, int b2, BVHFrontList* front_list)
+ {
+   bool l1 = node->isFirstNodeLeaf(b1);
+@@ -130,7 +129,6 @@ void collisionRecurse(CollisionTraversalNodeBase<S>* node, int b1, int b2, BVHFr
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void collisionRecurse(MeshCollisionTraversalNodeOBB<S>* node, int b1, int b2, const Matrix3<S>& R, const Vector3<S>& T, BVHFrontList* front_list)
+ {
+   bool l1 = node->isFirstNodeLeaf(b1);
+@@ -216,7 +214,6 @@ void collisionRecurse(MeshCollisionTraversalNodeOBB<S>* node, int b1, int b2, co
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void collisionRecurse(MeshCollisionTraversalNodeRSS<S>* node, int b1, int b2, const Matrix3<S>& R, const Vector3<S>& T, BVHFrontList* front_list)
+ {
+   FCL_UNUSED(node);
+@@ -234,7 +231,6 @@ void collisionRecurse(MeshCollisionTraversalNodeRSS<S>* node, int b1, int b2, co
+  * Make sure node is set correctly so that the first and second tree are the same
+  */
+ template <typename S>
+-FCL_EXPORT
+ void selfCollisionRecurse(CollisionTraversalNodeBase<S>* node, int b, BVHFrontList* front_list)
+ {
+   bool l = node->isFirstNodeLeaf(b);
+@@ -255,7 +251,6 @@ void selfCollisionRecurse(CollisionTraversalNodeBase<S>* node, int b, BVHFrontLi
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void distanceRecurse(DistanceTraversalNodeBase<S>* node, int b1, int b2, BVHFrontList* front_list)
+ {
+   bool l1 = node->isFirstNodeLeaf(b1);
+@@ -318,7 +313,7 @@ void distanceRecurse(DistanceTraversalNodeBase<S>* node, int b1, int b2, BVHFron
+ //==============================================================================
+ /** @brief Bounding volume test structure */
+ template <typename S>
+-struct FCL_EXPORT BVT
++struct BVT
+ {
+   /** @brief distance between bvs */
+   S d;
+@@ -330,7 +325,7 @@ struct FCL_EXPORT BVT
+ //==============================================================================
+ /** @brief Comparer between two BVT */
+ template <typename S>
+-struct FCL_EXPORT BVT_Comparer
++struct BVT_Comparer
+ {
+   bool operator() (const BVT<S>& lhs, const BVT<S>& rhs) const
+   {
+@@ -340,7 +335,7 @@ struct FCL_EXPORT BVT_Comparer
+ 
+ //==============================================================================
+ template <typename S>
+-struct FCL_EXPORT BVTQ
++struct BVTQ
+ {
+   BVTQ() : qsize(2) {}
+ 
+@@ -382,7 +377,6 @@ struct FCL_EXPORT BVTQ
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void distanceQueueRecurse(DistanceTraversalNodeBase<S>* node, int b1, int b2, BVHFrontList* front_list, int qsize)
+ {
+   BVTQ<S> bvtq;
+@@ -461,7 +455,6 @@ void distanceQueueRecurse(DistanceTraversalNodeBase<S>* node, int b1, int b2, BV
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void propagateBVHFrontListCollisionRecurse(CollisionTraversalNodeBase<S>* node, BVHFrontList* front_list)
+ {
+   BVHFrontList::iterator front_iter;
+diff --git a/include/fcl/narrowphase/detail/traversal/traversal_recurse.h b/include/fcl/narrowphase/detail/traversal/traversal_recurse.h
+index d586c7e..cb9316f 100644
+--- a/include/fcl/narrowphase/detail/traversal/traversal_recurse.h
++++ b/include/fcl/narrowphase/detail/traversal/traversal_recurse.h
+@@ -52,37 +52,30 @@ namespace detail
+ 
+ /// @brief Recurse function for collision
+ template <typename S>
+-FCL_EXPORT
+ void collisionRecurse(CollisionTraversalNodeBase<S>* node, int b1, int b2, BVHFrontList* front_list);
+ 
+ /// @brief Recurse function for collision, specialized for OBB type
+ template <typename S>
+-FCL_EXPORT
+ void collisionRecurse(MeshCollisionTraversalNodeOBB<S>* node, int b1, int b2, const Matrix3<S>& R, const Vector3<S>& T, BVHFrontList* front_list);
+ 
+ /// @brief Recurse function for collision, specialized for RSS type
+ template <typename S>
+-FCL_EXPORT
+ void collisionRecurse(MeshCollisionTraversalNodeRSS<S>* node, int b1, int b2, const Matrix3<S>& R, const Vector3<S>& T, BVHFrontList* front_list);
+ 
+ /// @brief Recurse function for self collision. Make sure node is set correctly so that the first and second tree are the same
+ template <typename S>
+-FCL_EXPORT
+ void selfCollisionRecurse(CollisionTraversalNodeBase<S>* node, int b, BVHFrontList* front_list);
+ 
+ /// @brief Recurse function for distance
+ template <typename S>
+-FCL_EXPORT
+ void distanceRecurse(DistanceTraversalNodeBase<S>* node, int b1, int b2, BVHFrontList* front_list);
+ 
+ /// @brief Recurse function for distance, using queue acceleration
+ template <typename S>
+-FCL_EXPORT
+ void distanceQueueRecurse(DistanceTraversalNodeBase<S>* node, int b1, int b2, BVHFrontList* front_list, int qsize);
+ 
+ /// @brief Recurse function for front list propagation
+ template <typename S>
+-FCL_EXPORT
+ void propagateBVHFrontListCollisionRecurse(CollisionTraversalNodeBase<S>* node, BVHFrontList* front_list);
+ 
+ } // namespace detail
+diff --git a/include/fcl/narrowphase/distance.h b/include/fcl/narrowphase/distance.h
+index 7629d26..cda024f 100644
+--- a/include/fcl/narrowphase/distance.h
++++ b/include/fcl/narrowphase/distance.h
+@@ -49,13 +49,11 @@ namespace fcl
+ /// @brief Main distance interface: given two collision objects, and the requirements for contacts, including whether return the nearest points, this function performs the distance between them. 
+ /// Return value is the minimum distance generated between the two objects.
+ template <typename S>
+-FCL_EXPORT
+ S distance(
+     const CollisionObject<S>* o1, const CollisionObject<S>* o2,
+     const DistanceRequest<S>& request, DistanceResult<S>& result);
+ 
+ template <typename S>
+-FCL_EXPORT
+ S distance(
+     const CollisionGeometry<S>* o1, const Transform3<S>& tf1,
+     const CollisionGeometry<S>* o2, const Transform3<S>& tf2,
+diff --git a/include/fcl/narrowphase/distance_request.h b/include/fcl/narrowphase/distance_request.h
+index c157699..8dc92a1 100644
+--- a/include/fcl/narrowphase/distance_request.h
++++ b/include/fcl/narrowphase/distance_request.h
+@@ -49,7 +49,7 @@ struct DistanceResult;
+ 
+ /// @brief request to the distance computation
+ template <typename S>
+-struct FCL_EXPORT DistanceRequest
++struct DistanceRequest
+ {
+   /// @brief whether to return the nearest points
+   bool enable_nearest_points;
+diff --git a/include/fcl/narrowphase/distance_result-inl.h b/include/fcl/narrowphase/distance_result-inl.h
+index 424cffd..5d87377 100644
+--- a/include/fcl/narrowphase/distance_result-inl.h
++++ b/include/fcl/narrowphase/distance_result-inl.h
+@@ -49,7 +49,6 @@ struct DistanceResult<double>;
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ DistanceResult<S>::DistanceResult(S min_distance_)
+   : min_distance(min_distance_),
+     o1(nullptr),
+@@ -62,7 +61,6 @@ DistanceResult<S>::DistanceResult(S min_distance_)
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void DistanceResult<S>::update(
+     S distance,
+     const CollisionGeometry<S>* o1_,
+@@ -82,7 +80,6 @@ void DistanceResult<S>::update(
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void DistanceResult<S>::update(
+     S distance,
+     const CollisionGeometry<S>* o1_,
+@@ -106,7 +103,6 @@ void DistanceResult<S>::update(
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void DistanceResult<S>::update(const DistanceResult& other_result)
+ {
+   if(min_distance > other_result.min_distance)
+@@ -123,7 +119,6 @@ void DistanceResult<S>::update(const DistanceResult& other_result)
+ 
+ //==============================================================================
+ template <typename S>
+-FCL_EXPORT
+ void DistanceResult<S>::clear()
+ {
+   min_distance = std::numeric_limits<S>::max();
+diff --git a/include/fcl/narrowphase/distance_result.h b/include/fcl/narrowphase/distance_result.h
+index 97373a3..66ec7c2 100644
+--- a/include/fcl/narrowphase/distance_result.h
++++ b/include/fcl/narrowphase/distance_result.h
+@@ -48,7 +48,7 @@ class CollisionGeometry;
+ 
+ /// @brief distance result
+ template <typename S>
+-struct FCL_EXPORT DistanceResult
++struct DistanceResult
+ {
+ public:
+ 
+diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
+index 425724e..f5d7c5e 100644
+--- a/src/CMakeLists.txt
++++ b/src/CMakeLists.txt
+@@ -47,6 +47,10 @@ else()
+   add_library(${PROJECT_NAME} SHARED ${FCL_HEADERS} ${FCL_SOURCE_CODE})
+ endif()
+ 
++set_target_properties(${PROJECT_NAME} PROPERTIES
++  RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bin"
++)
++
+ # Be sure to pass to the consumer the set of SIMD used in the compilation
+ target_compile_options(${PROJECT_NAME} PUBLIC ${SSE_FLAGS})
+ 
+diff --git a/src/broadphase/broadphase_SSaP.cpp b/src/broadphase/broadphase_SSaP.cpp
+index dc92716..4690e1d 100644
+--- a/src/broadphase/broadphase_SSaP.cpp
++++ b/src/broadphase/broadphase_SSaP.cpp
+@@ -41,6 +41,6 @@ namespace fcl
+ {
+ 
+ template
+-class SSaPCollisionManager<double>;
++class FCL_EXPORT SSaPCollisionManager<double>;
+ 
+ } // namespace
+diff --git a/src/broadphase/broadphase_SaP.cpp b/src/broadphase/broadphase_SaP.cpp
+index cee8117..4810e65 100644
+--- a/src/broadphase/broadphase_SaP.cpp
++++ b/src/broadphase/broadphase_SaP.cpp
+@@ -41,6 +41,6 @@ namespace fcl
+ {
+ 
+ template
+-class SaPCollisionManager<double>;
++class FCL_EXPORT SaPCollisionManager<double>;
+ 
+ } // namespace fcl
+diff --git a/src/broadphase/broadphase_bruteforce.cpp b/src/broadphase/broadphase_bruteforce.cpp
+index a8f5339..4cc2eda 100644
+--- a/src/broadphase/broadphase_bruteforce.cpp
++++ b/src/broadphase/broadphase_bruteforce.cpp
+@@ -41,6 +41,6 @@ namespace fcl
+ {
+ 
+ template
+-class NaiveCollisionManager<double>;
++class FCL_EXPORT NaiveCollisionManager<double>;
+ 
+ } // namespace fcl
+diff --git a/src/broadphase/broadphase_collision_manager.cpp b/src/broadphase/broadphase_collision_manager.cpp
+index 3cecc24..2f6d6df 100644
+--- a/src/broadphase/broadphase_collision_manager.cpp
++++ b/src/broadphase/broadphase_collision_manager.cpp
+@@ -41,6 +41,6 @@ namespace fcl
+ {
+ 
+ template
+-class BroadPhaseCollisionManager<double>;
++class FCL_EXPORT BroadPhaseCollisionManager<double>;
+ 
+ } // namespace fcl
+diff --git a/src/broadphase/broadphase_continuous_collision_manager.cpp b/src/broadphase/broadphase_continuous_collision_manager.cpp
+index d06760a..c8171db 100644
+--- a/src/broadphase/broadphase_continuous_collision_manager.cpp
++++ b/src/broadphase/broadphase_continuous_collision_manager.cpp
+@@ -41,6 +41,6 @@ namespace fcl
+ {
+ 
+ template
+-class BroadPhaseContinuousCollisionManager<double>;
++class FCL_EXPORT BroadPhaseContinuousCollisionManager<double>;
+ 
+ } // namespace fcl
+diff --git a/src/broadphase/broadphase_dynamic_AABB_tree.cpp b/src/broadphase/broadphase_dynamic_AABB_tree.cpp
+index 1da6ca3..2169ba8 100644
+--- a/src/broadphase/broadphase_dynamic_AABB_tree.cpp
++++ b/src/broadphase/broadphase_dynamic_AABB_tree.cpp
+@@ -41,6 +41,6 @@ namespace fcl
+ {
+ 
+ template
+-class DynamicAABBTreeCollisionManager<double>;
++class FCL_EXPORT DynamicAABBTreeCollisionManager<double>;
+ 
+ } // namespace fcl
+diff --git a/src/broadphase/broadphase_dynamic_AABB_tree_array.cpp b/src/broadphase/broadphase_dynamic_AABB_tree_array.cpp
+index 515feda..9ed47f5 100644
+--- a/src/broadphase/broadphase_dynamic_AABB_tree_array.cpp
++++ b/src/broadphase/broadphase_dynamic_AABB_tree_array.cpp
+@@ -41,6 +41,6 @@ namespace fcl
+ {
+ 
+ template
+-class DynamicAABBTreeCollisionManager_Array<double>;
++class FCL_EXPORT DynamicAABBTreeCollisionManager_Array<double>;
+ 
+ } // namespace fcl
+diff --git a/src/broadphase/broadphase_interval_tree.cpp b/src/broadphase/broadphase_interval_tree.cpp
+index 3567fb1..d038b48 100644
+--- a/src/broadphase/broadphase_interval_tree.cpp
++++ b/src/broadphase/broadphase_interval_tree.cpp
+@@ -41,6 +41,6 @@ namespace fcl
+ {
+ 
+ template
+-class IntervalTreeCollisionManager<double>;
++class FCL_EXPORT IntervalTreeCollisionManager<double>;
+ 
+ } // namespace fcl
+diff --git a/src/broadphase/broadphase_spatialhash.cpp b/src/broadphase/broadphase_spatialhash.cpp
+index 3a9d90e..1b955bf 100644
+--- a/src/broadphase/broadphase_spatialhash.cpp
++++ b/src/broadphase/broadphase_spatialhash.cpp
+@@ -41,7 +41,7 @@ namespace fcl
+ {
+ 
+ template
+-class SpatialHashingCollisionManager<
++class FCL_EXPORT SpatialHashingCollisionManager<
+     double,
+     detail::SimpleHashTable<
+         AABB<double>, CollisionObject<double>*, detail::SpatialHash<double>>>;
+diff --git a/src/broadphase/detail/interval_tree.cpp b/src/broadphase/detail/interval_tree.cpp
+index 28419ff..e6b7a14 100644
+--- a/src/broadphase/detail/interval_tree.cpp
++++ b/src/broadphase/detail/interval_tree.cpp
+@@ -44,10 +44,10 @@ namespace detail
+ {
+ 
+ template
+-struct it_recursion_node<double>;
++struct FCL_EXPORT it_recursion_node<double>;
+ 
+ template
+-class IntervalTree<double>;
++class FCL_EXPORT IntervalTree<double>;
+ 
+ } // namespace detail
+ } // namespace fcl
+diff --git a/src/broadphase/detail/interval_tree_node.cpp b/src/broadphase/detail/interval_tree_node.cpp
+index b3779b7..432f857 100644
+--- a/src/broadphase/detail/interval_tree_node.cpp
++++ b/src/broadphase/detail/interval_tree_node.cpp
+@@ -44,7 +44,7 @@ namespace detail
+ {
+ 
+ template
+-class IntervalTreeNode<double>;
++class FCL_EXPORT IntervalTreeNode<double>;
+ 
+ } // namespace detail
+ } // namespace fcl
+diff --git a/src/broadphase/detail/morton.cpp b/src/broadphase/detail/morton.cpp
+index fa0419f..4bc9b89 100644
+--- a/src/broadphase/detail/morton.cpp
++++ b/src/broadphase/detail/morton.cpp
+@@ -47,7 +47,7 @@ namespace detail
+ 
+ //==============================================================================
+ template
+-uint32 quantize(double x, uint32 n);
++FCL_EXPORT uint32 quantize(double x, uint32 n);
+ 
+ //==============================================================================
+ uint32 morton_code(uint32 x, uint32 y, uint32 z)
+@@ -84,14 +84,6 @@ uint64 morton_code60(uint32 x, uint32 y, uint32 z)
+       | uint64(morton_code(lo_x, lo_y, lo_z));
+ }
+ 
+-//==============================================================================
+-template
+-struct morton_functor<double, uint32>;
+-
+-//==============================================================================
+-template
+-struct morton_functor<double, uint64>;
+-
+ } // namespace detail
+ /// @endcond
+ } // namespace fcl
+diff --git a/src/broadphase/detail/simple_interval.cpp b/src/broadphase/detail/simple_interval.cpp
+index 0271d9b..e6715b0 100644
+--- a/src/broadphase/detail/simple_interval.cpp
++++ b/src/broadphase/detail/simple_interval.cpp
+@@ -44,7 +44,7 @@ namespace detail
+ {
+ 
+ template
+-struct SimpleInterval<double>;
++struct FCL_EXPORT SimpleInterval<double>;
+ 
+ } // namespace detail
+ } // namespace fcl
+diff --git a/src/broadphase/detail/spatial_hash.cpp b/src/broadphase/detail/spatial_hash.cpp
+index 01a8e25..b0d84ff 100644
+--- a/src/broadphase/detail/spatial_hash.cpp
++++ b/src/broadphase/detail/spatial_hash.cpp
+@@ -44,7 +44,7 @@ namespace detail
+ {
+ 
+ template
+-struct SpatialHash<double>;
++struct FCL_EXPORT SpatialHash<double>;
+ 
+ } // namespace detail
+ } // namespace fcl
+diff --git a/src/geometry/bvh/BVH_utility.cpp b/src/geometry/bvh/BVH_utility.cpp
+index bfcc8e8..9c4d30f 100644
+--- a/src/geometry/bvh/BVH_utility.cpp
++++ b/src/geometry/bvh/BVH_utility.cpp
+@@ -42,12 +42,12 @@ namespace fcl
+ 
+ //==============================================================================
+ template
+-void BVHExpand(
++FCL_EXPORT void BVHExpand(
+     BVHModel<OBB<double>>& model, const Variance3<double>* ucs, double r);
+ 
+ //==============================================================================
+ template
+-void BVHExpand(
++FCL_EXPORT void BVHExpand(
+     BVHModel<RSS<double>>& model, const Variance3<double>* ucs, double r);
+ 
+ } // namespace fcl
+diff --git a/src/geometry/collision_geometry.cpp b/src/geometry/collision_geometry.cpp
+index a898ecd..00de42a 100644
+--- a/src/geometry/collision_geometry.cpp
++++ b/src/geometry/collision_geometry.cpp
+@@ -41,6 +41,6 @@ namespace fcl
+ {
+ 
+ template
+-class CollisionGeometry<double>;
++class FCL_EXPORT CollisionGeometry<double>;
+ 
+ } // namespace fcl
+diff --git a/src/geometry/octree/octree.cpp b/src/geometry/octree/octree.cpp
+index 1e392e9..85e27c2 100644
+--- a/src/geometry/octree/octree.cpp
++++ b/src/geometry/octree/octree.cpp
+@@ -46,11 +46,11 @@ namespace fcl
+ 
+ //==============================================================================
+ template
+-class OcTree<double>;
++class FCL_EXPORT OcTree<double>;
+ 
+ //==============================================================================
+ template
+-void computeChildBV(const AABB<double>& root_bv, unsigned int i, AABB<double>& child_bv);
++FCL_EXPORT void computeChildBV(const AABB<double>& root_bv, unsigned int i, AABB<double>& child_bv);
+ 
+ } // namespace fcl
+ 
+diff --git a/src/geometry/shape/box.cpp b/src/geometry/shape/box.cpp
+index 9c96f1c..dee9d77 100644
+--- a/src/geometry/shape/box.cpp
++++ b/src/geometry/shape/box.cpp
+@@ -41,6 +41,6 @@ namespace fcl
+ {
+ 
+ template
+-class Box<double>;
++class FCL_EXPORT Box<double>;
+ 
+ } // namespace fcl
+diff --git a/src/geometry/shape/capsule.cpp b/src/geometry/shape/capsule.cpp
+index db46b66..0eaea73 100644
+--- a/src/geometry/shape/capsule.cpp
++++ b/src/geometry/shape/capsule.cpp
+@@ -41,6 +41,6 @@ namespace fcl
+ {
+ 
+ template
+-class Capsule<double>;
++class FCL_EXPORT Capsule<double>;
+ 
+ } // namespace fcl
+diff --git a/src/geometry/shape/cone.cpp b/src/geometry/shape/cone.cpp
+index f201ebb..e4de4f6 100644
+--- a/src/geometry/shape/cone.cpp
++++ b/src/geometry/shape/cone.cpp
+@@ -41,6 +41,6 @@ namespace fcl
+ {
+ 
+ template
+-class Cone<double>;
++class FCL_EXPORT Cone<double>;
+ 
+ } // namespace fcl
+diff --git a/src/geometry/shape/convex.cpp b/src/geometry/shape/convex.cpp
+index 4242923..dbe3161 100644
+--- a/src/geometry/shape/convex.cpp
++++ b/src/geometry/shape/convex.cpp
+@@ -41,6 +41,6 @@ namespace fcl
+ {
+ 
+ template
+-class Convex<double>;
++class FCL_EXPORT Convex<double>;
+ 
+ } // namespace fcl
+diff --git a/src/geometry/shape/cylinder.cpp b/src/geometry/shape/cylinder.cpp
+index 99933f9..5756720 100644
+--- a/src/geometry/shape/cylinder.cpp
++++ b/src/geometry/shape/cylinder.cpp
+@@ -41,6 +41,6 @@ namespace fcl
+ {
+ 
+ template
+-class Cylinder<double>;
++class FCL_EXPORT Cylinder<double>;
+ 
+ } // namespace fcl
+diff --git a/src/geometry/shape/ellipsoid.cpp b/src/geometry/shape/ellipsoid.cpp
+index d30baea..355ed24 100644
+--- a/src/geometry/shape/ellipsoid.cpp
++++ b/src/geometry/shape/ellipsoid.cpp
+@@ -41,6 +41,6 @@ namespace fcl
+ {
+ 
+ template
+-class Ellipsoid<double>;
++class FCL_EXPORT Ellipsoid<double>;
+ 
+ } // namespace fcl
+diff --git a/src/geometry/shape/halfspace.cpp b/src/geometry/shape/halfspace.cpp
+index f01e946..757ef47 100644
+--- a/src/geometry/shape/halfspace.cpp
++++ b/src/geometry/shape/halfspace.cpp
+@@ -41,9 +41,9 @@ namespace fcl
+ {
+ 
+ template
+-class Halfspace<double>;
++class FCL_EXPORT Halfspace<double>;
+ 
+ template
+-Halfspace<double> transform(const Halfspace<double>& a, const Transform3<double>& tf);
++FCL_EXPORT Halfspace<double> transform(const Halfspace<double>& a, const Transform3<double>& tf);
+ 
+ } // namespace fcl
+diff --git a/src/geometry/shape/plane.cpp b/src/geometry/shape/plane.cpp
+index e61fa63..b00bb86 100644
+--- a/src/geometry/shape/plane.cpp
++++ b/src/geometry/shape/plane.cpp
+@@ -42,10 +42,10 @@ namespace fcl
+ 
+ //==============================================================================
+ template
+-class Plane<double>;
++class FCL_EXPORT Plane<double>;
+ 
+ //==============================================================================
+ template
+-Plane<double> transform(const Plane<double>& a, const Transform3<double>& tf);
++FCL_EXPORT Plane<double> transform(const Plane<double>& a, const Transform3<double>& tf);
+ 
+ } // namespace fcl
+diff --git a/src/geometry/shape/shape_base.cpp b/src/geometry/shape/shape_base.cpp
+index 179d73e..9570395 100644
+--- a/src/geometry/shape/shape_base.cpp
++++ b/src/geometry/shape/shape_base.cpp
+@@ -41,6 +41,6 @@ namespace fcl
+ {
+ 
+ template
+-class ShapeBase<double>;
++class FCL_EXPORT ShapeBase<double>;
+ 
+ } // namespace fcl
+diff --git a/src/geometry/shape/sphere.cpp b/src/geometry/shape/sphere.cpp
+index b8a8578..26a314f 100644
+--- a/src/geometry/shape/sphere.cpp
++++ b/src/geometry/shape/sphere.cpp
+@@ -41,6 +41,6 @@ namespace fcl
+ {
+ 
+ template
+-class Sphere<double>;
++class FCL_EXPORT Sphere<double>;
+ 
+ } // namespace fcl
+diff --git a/src/geometry/shape/triangle_p.cpp b/src/geometry/shape/triangle_p.cpp
+index 86546be..e0bf85b 100644
+--- a/src/geometry/shape/triangle_p.cpp
++++ b/src/geometry/shape/triangle_p.cpp
+@@ -41,6 +41,6 @@ namespace fcl
+ {
+ 
+ template
+-class TriangleP<double>;
++class FCL_EXPORT TriangleP<double>;
+ 
+ } // namespace fcl
+diff --git a/src/geometry/shape/utility.cpp b/src/geometry/shape/utility.cpp
+index a64ee25..abce2a6 100644
+--- a/src/geometry/shape/utility.cpp
++++ b/src/geometry/shape/utility.cpp
+@@ -41,67 +41,67 @@ namespace fcl {
+ 
+ //==============================================================================
+ template
+-void constructBox(const AABB<double>& bv, Box<double>& box, Transform3<double>& tf);
++FCL_EXPORT void constructBox(const AABB<double>& bv, Box<double>& box, Transform3<double>& tf);
+ 
+ //==============================================================================
+ template
+-void constructBox(const OBB<double>& bv, Box<double>& box, Transform3<double>& tf);
++FCL_EXPORT void constructBox(const OBB<double>& bv, Box<double>& box, Transform3<double>& tf);
+ 
+ //==============================================================================
+ template
+-void constructBox(const OBBRSS<double>& bv, Box<double>& box, Transform3<double>& tf);
++FCL_EXPORT void constructBox(const OBBRSS<double>& bv, Box<double>& box, Transform3<double>& tf);
+ 
+ //==============================================================================
+ template
+-void constructBox(const kIOS<double>& bv, Box<double>& box, Transform3<double>& tf);
++FCL_EXPORT void constructBox(const kIOS<double>& bv, Box<double>& box, Transform3<double>& tf);
+ 
+ //==============================================================================
+ template
+-void constructBox(const RSS<double>& bv, Box<double>& box, Transform3<double>& tf);
++FCL_EXPORT void constructBox(const RSS<double>& bv, Box<double>& box, Transform3<double>& tf);
+ 
+ //==============================================================================
+ template
+-void constructBox(const KDOP<double, 16>& bv, Box<double>& box, Transform3<double>& tf);
++FCL_EXPORT void constructBox(const KDOP<double, 16>& bv, Box<double>& box, Transform3<double>& tf);
+ 
+ //==============================================================================
+ template
+-void constructBox(const KDOP<double, 18>& bv, Box<double>& box, Transform3<double>& tf);
++FCL_EXPORT void constructBox(const KDOP<double, 18>& bv, Box<double>& box, Transform3<double>& tf);
+ 
+ //==============================================================================
+ template
+-void constructBox(const KDOP<double, 24>& bv, Box<double>& box, Transform3<double>& tf);
++FCL_EXPORT void constructBox(const KDOP<double, 24>& bv, Box<double>& box, Transform3<double>& tf);
+ 
+ //==============================================================================
+ template
+-void constructBox(const AABB<double>& bv, const Transform3<double>& tf_bv, Box<double>& box, Transform3<double>& tf);
++FCL_EXPORT void constructBox(const AABB<double>& bv, const Transform3<double>& tf_bv, Box<double>& box, Transform3<double>& tf);
+ 
+ //==============================================================================
+ template
+-void constructBox(const OBB<double>& bv, const Transform3<double>& tf_bv, Box<double>& box, Transform3<double>& tf);
++FCL_EXPORT void constructBox(const OBB<double>& bv, const Transform3<double>& tf_bv, Box<double>& box, Transform3<double>& tf);
+ 
+ //==============================================================================
+ template
+-void constructBox(const OBBRSS<double>& bv, const Transform3<double>& tf_bv, Box<double>& box, Transform3<double>& tf);
++FCL_EXPORT void constructBox(const OBBRSS<double>& bv, const Transform3<double>& tf_bv, Box<double>& box, Transform3<double>& tf);
+ 
+ //==============================================================================
+ template
+-void constructBox(const kIOS<double>& bv, const Transform3<double>& tf_bv, Box<double>& box, Transform3<double>& tf);
++FCL_EXPORT void constructBox(const kIOS<double>& bv, const Transform3<double>& tf_bv, Box<double>& box, Transform3<double>& tf);
+ 
+ //==============================================================================
+ template
+-void constructBox(const RSS<double>& bv, const Transform3<double>& tf_bv, Box<double>& box, Transform3<double>& tf);
++FCL_EXPORT void constructBox(const RSS<double>& bv, const Transform3<double>& tf_bv, Box<double>& box, Transform3<double>& tf);
+ 
+ //==============================================================================
+ template
+-void constructBox(const KDOP<double, 16>& bv, const Transform3<double>& tf_bv, Box<double>& box, Transform3<double>& tf);
++FCL_EXPORT void constructBox(const KDOP<double, 16>& bv, const Transform3<double>& tf_bv, Box<double>& box, Transform3<double>& tf);
+ 
+ //==============================================================================
+ template
+-void constructBox(const KDOP<double, 18>& bv, const Transform3<double>& tf_bv, Box<double>& box, Transform3<double>& tf);
++FCL_EXPORT void constructBox(const KDOP<double, 18>& bv, const Transform3<double>& tf_bv, Box<double>& box, Transform3<double>& tf);
+ 
+ //==============================================================================
+ template
+-void constructBox(const KDOP<double, 24>& bv, const Transform3<double>& tf_bv, Box<double>& box, Transform3<double>& tf);
++FCL_EXPORT void constructBox(const KDOP<double, 24>& bv, const Transform3<double>& tf_bv, Box<double>& box, Transform3<double>& tf);
+ 
+ //==============================================================================
+ namespace detail {
+@@ -109,119 +109,119 @@ namespace detail {
+ 
+ //==============================================================================
+ template
+-struct ComputeBVImpl<double, AABB<double>, Box<double>>;
++struct FCL_EXPORT ComputeBVImpl<double, AABB<double>, Box<double>>;
+ 
+ //==============================================================================
+ template
+-struct ComputeBVImpl<double, OBB<double>, Box<double>>;
++struct FCL_EXPORT ComputeBVImpl<double, OBB<double>, Box<double>>;
+ 
+ //==============================================================================
+ template
+-struct ComputeBVImpl<double, AABB<double>, Capsule<double>>;
++struct FCL_EXPORT ComputeBVImpl<double, AABB<double>, Capsule<double>>;
+ 
+ //==============================================================================
+ template
+-struct ComputeBVImpl<double, OBB<double>, Capsule<double>>;
++struct FCL_EXPORT ComputeBVImpl<double, OBB<double>, Capsule<double>>;
+ 
+ //==============================================================================
+ template
+-struct ComputeBVImpl<double, AABB<double>, Cone<double>>;
++struct FCL_EXPORT ComputeBVImpl<double, AABB<double>, Cone<double>>;
+ 
+ //==============================================================================
+ template
+-struct ComputeBVImpl<double, OBB<double>, Cone<double>>;
++struct FCL_EXPORT ComputeBVImpl<double, OBB<double>, Cone<double>>;
+ 
+ //==============================================================================
+ template
+-struct ComputeBVImpl<double, AABB<double>, Cylinder<double>>;
++struct FCL_EXPORT ComputeBVImpl<double, AABB<double>, Cylinder<double>>;
+ 
+ //==============================================================================
+ template
+-struct ComputeBVImpl<double, OBB<double>, Cylinder<double>>;
++struct FCL_EXPORT ComputeBVImpl<double, OBB<double>, Cylinder<double>>;
+ 
+ //==============================================================================
+ template
+-struct ComputeBVImpl<double, AABB<double>, Ellipsoid<double>>;
++struct FCL_EXPORT ComputeBVImpl<double, AABB<double>, Ellipsoid<double>>;
+ 
+ //==============================================================================
+ template
+-struct ComputeBVImpl<double, OBB<double>, Ellipsoid<double>>;
++struct FCL_EXPORT ComputeBVImpl<double, OBB<double>, Ellipsoid<double>>;
+ 
+ //==============================================================================
+ template
+-struct ComputeBVImpl<double, AABB<double>, Halfspace<double>>;
++struct FCL_EXPORT ComputeBVImpl<double, AABB<double>, Halfspace<double>>;
+ 
+ //==============================================================================
+ template
+-struct ComputeBVImpl<double, OBB<double>, Halfspace<double>>;
++struct FCL_EXPORT ComputeBVImpl<double, OBB<double>, Halfspace<double>>;
+ 
+ //==============================================================================
+ template
+-struct ComputeBVImpl<double, RSS<double>, Halfspace<double>>;
++struct FCL_EXPORT ComputeBVImpl<double, RSS<double>, Halfspace<double>>;
+ 
+ //==============================================================================
+ template
+-struct ComputeBVImpl<double, OBBRSS<double>, Halfspace<double>>;
++struct FCL_EXPORT ComputeBVImpl<double, OBBRSS<double>, Halfspace<double>>;
+ 
+ //==============================================================================
+ template
+-struct ComputeBVImpl<double, kIOS<double>, Halfspace<double>>;
++struct FCL_EXPORT ComputeBVImpl<double, kIOS<double>, Halfspace<double>>;
+ 
+ //==============================================================================
+ template
+-struct ComputeBVImpl<double, KDOP<double, 16>, Halfspace<double>>;
++struct FCL_EXPORT ComputeBVImpl<double, KDOP<double, 16>, Halfspace<double>>;
+ 
+ //==============================================================================
+ template
+-struct ComputeBVImpl<double, KDOP<double, 18>, Halfspace<double>>;
++struct FCL_EXPORT ComputeBVImpl<double, KDOP<double, 18>, Halfspace<double>>;
+ 
+ //==============================================================================
+ template
+-struct ComputeBVImpl<double, KDOP<double, 24>, Halfspace<double>>;
++struct FCL_EXPORT ComputeBVImpl<double, KDOP<double, 24>, Halfspace<double>>;
+ 
+ //==============================================================================
+ template
+-struct ComputeBVImpl<double, AABB<double>, Plane<double>>;
++struct FCL_EXPORT ComputeBVImpl<double, AABB<double>, Plane<double>>;
+ 
+ //==============================================================================
+ template
+-struct ComputeBVImpl<double, OBB<double>, Plane<double>>;
++struct FCL_EXPORT ComputeBVImpl<double, OBB<double>, Plane<double>>;
+ 
+ //==============================================================================
+ template
+-struct ComputeBVImpl<double, RSS<double>, Plane<double>>;
++struct FCL_EXPORT ComputeBVImpl<double, RSS<double>, Plane<double>>;
+ 
+ //==============================================================================
+ template
+-struct ComputeBVImpl<double, OBBRSS<double>, Plane<double>>;
++struct FCL_EXPORT ComputeBVImpl<double, OBBRSS<double>, Plane<double>>;
+ 
+ //==============================================================================
+ template
+-struct ComputeBVImpl<double, kIOS<double>, Plane<double>>;
++struct FCL_EXPORT ComputeBVImpl<double, kIOS<double>, Plane<double>>;
+ 
+ //==============================================================================
+ template
+-struct ComputeBVImpl<double, KDOP<double, 16>, Plane<double>>;
++struct FCL_EXPORT ComputeBVImpl<double, KDOP<double, 16>, Plane<double>>;
+ 
+ //==============================================================================
+ template
+-struct ComputeBVImpl<double, KDOP<double, 18>, Plane<double>>;
++struct FCL_EXPORT ComputeBVImpl<double, KDOP<double, 18>, Plane<double>>;
+ 
+ //==============================================================================
+ template
+-struct ComputeBVImpl<double, KDOP<double, 24>, Plane<double>>;
++struct FCL_EXPORT ComputeBVImpl<double, KDOP<double, 24>, Plane<double>>;
+ 
+ //==============================================================================
+ template
+-struct ComputeBVImpl<double, AABB<double>, Sphere<double>>;
++struct FCL_EXPORT ComputeBVImpl<double, AABB<double>, Sphere<double>>;
+ 
+ //==============================================================================
+ template
+-struct ComputeBVImpl<double, OBB<double>, Sphere<double>>;
++struct FCL_EXPORT ComputeBVImpl<double, OBB<double>, Sphere<double>>;
+ 
+ //==============================================================================
+ template
+-struct ComputeBVImpl<double, AABB<double>, TriangleP<double>>;
++struct FCL_EXPORT ComputeBVImpl<double, AABB<double>, TriangleP<double>>;
+ 
+ //==============================================================================
+ } // namespace detail
+diff --git a/src/math/bv/AABB.cpp b/src/math/bv/AABB.cpp
+index a7c3824..2371037 100644
+--- a/src/math/bv/AABB.cpp
++++ b/src/math/bv/AABB.cpp
+@@ -41,6 +41,6 @@ namespace fcl
+ {
+ 
+ template
+-class AABB<double>;
++class FCL_EXPORT AABB<double>;
+ 
+ } // namespace fcl
+diff --git a/src/math/bv/OBB.cpp b/src/math/bv/OBB.cpp
+index 1cfa1f6..db8eec7 100644
+--- a/src/math/bv/OBB.cpp
++++ b/src/math/bv/OBB.cpp
+@@ -42,23 +42,23 @@ namespace fcl
+ 
+ //==============================================================================
+ template
+-class OBB<double>;
++class FCL_EXPORT OBB<double>;
+ 
+ //==============================================================================
+ template
+-void computeVertices(const OBB<double>& b, Vector3<double> vertices[8]);
++FCL_EXPORT void computeVertices(const OBB<double>& b, Vector3<double> vertices[8]);
+ 
+ //==============================================================================
+ template
+-OBB<double> merge_largedist(const OBB<double>& b1, const OBB<double>& b2);
++FCL_EXPORT OBB<double> merge_largedist(const OBB<double>& b1, const OBB<double>& b2);
+ 
+ //==============================================================================
+ template
+-OBB<double> merge_smalldist(const OBB<double>& b1, const OBB<double>& b2);
++FCL_EXPORT OBB<double> merge_smalldist(const OBB<double>& b1, const OBB<double>& b2);
+ 
+ //==============================================================================
+ template
+-bool obbDisjoint(
++FCL_EXPORT bool obbDisjoint(
+     const Matrix3<double>& B,
+     const Vector3<double>& T,
+     const Vector3<double>& a,
+@@ -66,7 +66,7 @@ bool obbDisjoint(
+ 
+ //==============================================================================
+ template
+-bool obbDisjoint(
++FCL_EXPORT bool obbDisjoint(
+     const Transform3<double>& tf,
+     const Vector3<double>& a,
+     const Vector3<double>& b);
+diff --git a/src/math/bv/OBBRSS.cpp b/src/math/bv/OBBRSS.cpp
+index 10cb794..c67c509 100644
+--- a/src/math/bv/OBBRSS.cpp
++++ b/src/math/bv/OBBRSS.cpp
+@@ -42,10 +42,10 @@ namespace fcl
+ 
+ //==============================================================================
+ template
+-class OBBRSS<double>;
++class FCL_EXPORT OBBRSS<double>;
+ 
+ //==============================================================================
+ template
+-OBBRSS<double> translate(const OBBRSS<double>& bv, const Vector3<double>& t);
++FCL_EXPORT OBBRSS<double> translate(const OBBRSS<double>& bv, const Vector3<double>& t);
+ 
+ } // namespace fcl
+diff --git a/src/math/bv/RSS.cpp b/src/math/bv/RSS.cpp
+index c7db037..b8960c6 100644
+--- a/src/math/bv/RSS.cpp
++++ b/src/math/bv/RSS.cpp
+@@ -42,15 +42,15 @@ namespace fcl
+ 
+ //==============================================================================
+ template
+-class RSS<double>;
++class FCL_EXPORT RSS<double>;
+ 
+ //==============================================================================
+ template
+-void clipToRange(double& val, double a, double b);
++FCL_EXPORT void clipToRange(double& val, double a, double b);
+ 
+ //==============================================================================
+ template
+-void segCoords(
++FCL_EXPORT void segCoords(
+         double& t,
+         double& u,
+         double a,
+@@ -61,7 +61,7 @@ void segCoords(
+ 
+ //==============================================================================
+ template
+-bool inVoronoi(
++FCL_EXPORT bool inVoronoi(
+         double a,
+         double b,
+         double Anorm_dot_B,
+@@ -72,7 +72,7 @@ bool inVoronoi(
+ 
+ //==============================================================================
+ template
+-double rectDistance(
++FCL_EXPORT double rectDistance(
+     const Matrix3<double>& Rab,
+     const Vector3<double>& Tab,
+     const double a[2],
+@@ -82,7 +82,7 @@ double rectDistance(
+ 
+ //==============================================================================
+ template
+-double rectDistance(
++FCL_EXPORT double rectDistance(
+     const Transform3<double>& tfab,
+     const double a[2],
+     const double b[2],
+@@ -91,6 +91,6 @@ double rectDistance(
+ 
+ //==============================================================================
+ template
+-RSS<double> translate(const RSS<double>& bv, const Vector3<double>& t);
++FCL_EXPORT RSS<double> translate(const RSS<double>& bv, const Vector3<double>& t);
+ 
+ } // namespace fcl
+diff --git a/src/math/bv/kDOP.cpp b/src/math/bv/kDOP.cpp
+index 8879a44..44415dc 100644
+--- a/src/math/bv/kDOP.cpp
++++ b/src/math/bv/kDOP.cpp
+@@ -42,34 +42,34 @@ namespace fcl
+ 
+ //==============================================================================
+ template
+-class KDOP<double, 16>;
++class FCL_EXPORT KDOP<double, 16>;
+ 
+ //==============================================================================
+ template
+-class KDOP<double, 18>;
++class FCL_EXPORT KDOP<double, 18>;
+ 
+ //==============================================================================
+ template
+-class KDOP<double, 24>;
++class FCL_EXPORT KDOP<double, 24>;
+ 
+ //==============================================================================
+ template
+-void minmax(double a, double b, double& minv, double& maxv);
++FCL_EXPORT void minmax(double a, double b, double& minv, double& maxv);
+ 
+ //==============================================================================
+ template
+-void minmax(double p, double& minv, double& maxv);
++FCL_EXPORT void minmax(double p, double& minv, double& maxv);
+ 
+ //==============================================================================
+ template
+-void getDistances<double, 5>(const Vector3<double>& p, double* d);
++FCL_EXPORT void getDistances<double, 5>(const Vector3<double>& p, double* d);
+ 
+ //==============================================================================
+ template
+-void getDistances<double, 6>(const Vector3<double>& p, double* d);
++FCL_EXPORT void getDistances<double, 6>(const Vector3<double>& p, double* d);
+ 
+ //==============================================================================
+ template
+-void getDistances<double, 9>(const Vector3<double>& p, double* d);
++FCL_EXPORT void getDistances<double, 9>(const Vector3<double>& p, double* d);
+ 
+ } // namespace fcl
+diff --git a/src/math/bv/kIOS.cpp b/src/math/bv/kIOS.cpp
+index 4c17b92..589f182 100644
+--- a/src/math/bv/kIOS.cpp
++++ b/src/math/bv/kIOS.cpp
+@@ -41,6 +41,6 @@ namespace fcl
+ {
+  
+ template
+-class kIOS<double>;
++class FCL_EXPORT kIOS<double>;
+ 
+ } // namespace fcl
+diff --git a/src/math/bv/utility.cpp b/src/math/bv/utility.cpp
+index d2e44a9..c58b067 100644
+--- a/src/math/bv/utility.cpp
++++ b/src/math/bv/utility.cpp
+@@ -46,23 +46,23 @@ namespace OBB_fit_functions {
+ 
+ //==============================================================================
+ template
+-void fit1(const Vector3d* const ps, OBB<double>& bv);
++FCL_EXPORT void fit1(const Vector3d* const ps, OBB<double>& bv);
+ 
+ //==============================================================================
+ template
+-void fit2(const Vector3d* const ps, OBB<double>& bv);
++FCL_EXPORT void fit2(const Vector3d* const ps, OBB<double>& bv);
+ 
+ //==============================================================================
+ template
+-void fit3(const Vector3d* const ps, OBB<double>& bv);
++FCL_EXPORT void fit3(const Vector3d* const ps, OBB<double>& bv);
+ 
+ //==============================================================================
+ template
+-void fit6(const Vector3d* const ps, OBB<double>& bv);
++FCL_EXPORT void fit6(const Vector3d* const ps, OBB<double>& bv);
+ 
+ //==============================================================================
+ template
+-void fitn(const Vector3d* const ps, int n, OBB<double>& bv);
++FCL_EXPORT void fitn(const Vector3d* const ps, int n, OBB<double>& bv);
+ 
+ //==============================================================================
+ } // namespace OBB_fit_functions
+@@ -74,23 +74,23 @@ namespace RSS_fit_functions {
+ 
+ //==============================================================================
+ template
+-void fit1(const Vector3d* const ps, RSS<double>& bv);
++FCL_EXPORT void fit1(const Vector3d* const ps, RSS<double>& bv);
+ 
+ //==============================================================================
+ template
+-void fit2(const Vector3d* const ps, RSS<double>& bv);
++FCL_EXPORT void fit2(const Vector3d* const ps, RSS<double>& bv);
+ 
+ //==============================================================================
+ template
+-void fit3(const Vector3d* const ps, RSS<double>& bv);
++FCL_EXPORT void fit3(const Vector3d* const ps, RSS<double>& bv);
+ 
+ //==============================================================================
+ template
+-void fit6(const Vector3d* const ps, RSS<double>& bv);
++FCL_EXPORT void fit6(const Vector3d* const ps, RSS<double>& bv);
+ 
+ //==============================================================================
+ template
+-void fitn(const Vector3d* const ps, int n, RSS<double>& bv);
++FCL_EXPORT void fitn(const Vector3d* const ps, int n, RSS<double>& bv);
+ 
+ //==============================================================================
+ } // namespace RSS_fit_functions
+@@ -102,19 +102,19 @@ namespace kIOS_fit_functions {
+ 
+ //==============================================================================
+ template
+-void fit1(const Vector3d* const ps, kIOS<double>& bv);
++FCL_EXPORT void fit1(const Vector3d* const ps, kIOS<double>& bv);
+ 
+ //==============================================================================
+ template
+-void fit2(const Vector3d* const ps, kIOS<double>& bv);
++FCL_EXPORT void fit2(const Vector3d* const ps, kIOS<double>& bv);
+ 
+ //==============================================================================
+ template
+-void fit3(const Vector3d* const ps, kIOS<double>& bv);
++FCL_EXPORT void fit3(const Vector3d* const ps, kIOS<double>& bv);
+ 
+ //==============================================================================
+ template
+-void fitn(const Vector3d* const ps, int n, kIOS<double>& bv);
++FCL_EXPORT void fitn(const Vector3d* const ps, int n, kIOS<double>& bv);
+ 
+ //==============================================================================
+ } // namespace kIOS_fit_functions
+@@ -126,19 +126,19 @@ namespace OBBRSS_fit_functions {
+ 
+ //==============================================================================
+ template
+-void fit1(const Vector3d* const ps, OBBRSS<double>& bv);
++FCL_EXPORT void fit1(const Vector3d* const ps, OBBRSS<double>& bv);
+ 
+ //==============================================================================
+ template
+-void fit2(const Vector3d* const ps, OBBRSS<double>& bv);
++FCL_EXPORT void fit2(const Vector3d* const ps, OBBRSS<double>& bv);
+ 
+ //==============================================================================
+ template
+-void fit3(const Vector3d* const ps, OBBRSS<double>& bv);
++FCL_EXPORT void fit3(const Vector3d* const ps, OBBRSS<double>& bv);
+ 
+ //==============================================================================
+ template
+-void fitn(const Vector3d* const ps, int n, OBBRSS<double>& bv);
++FCL_EXPORT void fitn(const Vector3d* const ps, int n, OBBRSS<double>& bv);
+ 
+ //==============================================================================
+ } // namespace OBBRSS_fit_functions
+@@ -146,55 +146,55 @@ void fitn(const Vector3d* const ps, int n, OBBRSS<double>& bv);
+ 
+ //==============================================================================
+ template
+-struct Fitter<double, OBB<double>>;
++FCL_EXPORT struct Fitter<double, OBB<double>>;
+ 
+ //==============================================================================
+ template
+-struct Fitter<double, RSS<double>>;
++FCL_EXPORT struct Fitter<double, RSS<double>>;
+ 
+ //==============================================================================
+ template
+-struct Fitter<double, kIOS<double>>;
++FCL_EXPORT struct Fitter<double, kIOS<double>>;
+ 
+ //==============================================================================
+ template
+-struct Fitter<double, OBBRSS<double>>;
++FCL_EXPORT struct Fitter<double, OBBRSS<double>>;
+ 
+ //==============================================================================
+ template
+-class ConvertBVImpl<double, AABB<double>, AABB<double>>;
++FCL_EXPORT class ConvertBVImpl<double, AABB<double>, AABB<double>>;
+ 
+ //==============================================================================
+ template
+-class ConvertBVImpl<double, AABB<double>, OBB<double>>;
++FCL_EXPORT class ConvertBVImpl<double, AABB<double>, OBB<double>>;
+ 
+ //==============================================================================
+ template
+-class ConvertBVImpl<double, OBB<double>, OBB<double>>;
++FCL_EXPORT class ConvertBVImpl<double, OBB<double>, OBB<double>>;
+ 
+ //==============================================================================
+ template
+-class ConvertBVImpl<double, OBBRSS<double>, OBB<double>>;
++FCL_EXPORT class ConvertBVImpl<double, OBBRSS<double>, OBB<double>>;
+ 
+ //==============================================================================
+ template
+-class ConvertBVImpl<double, RSS<double>, OBB<double>>;
++FCL_EXPORT class ConvertBVImpl<double, RSS<double>, OBB<double>>;
+ 
+ //==============================================================================
+ template
+-class ConvertBVImpl<double, OBB<double>, RSS<double>>;
++FCL_EXPORT class ConvertBVImpl<double, OBB<double>, RSS<double>>;
+ 
+ //==============================================================================
+ template
+-class ConvertBVImpl<double, RSS<double>, RSS<double>>;
++FCL_EXPORT class ConvertBVImpl<double, RSS<double>, RSS<double>>;
+ 
+ //==============================================================================
+ template
+-class ConvertBVImpl<double, OBBRSS<double>, RSS<double>>;
++FCL_EXPORT class ConvertBVImpl<double, OBBRSS<double>, RSS<double>>;
+ 
+ //==============================================================================
+ template
+-class ConvertBVImpl<double, AABB<double>, RSS<double>>;
++FCL_EXPORT class ConvertBVImpl<double, AABB<double>, RSS<double>>;
+ 
+ } // namespace detail
+ } // namespace fcl
+diff --git a/src/math/constants.cpp b/src/math/constants.cpp
+index a252bdb..560a276 100644
+--- a/src/math/constants.cpp
++++ b/src/math/constants.cpp
+@@ -40,6 +40,6 @@ namespace fcl
+ {
+ 
+ template
+-struct constants<double>;
++struct FCL_EXPORT constants<double>;
+ 
+ } // namespace fcl
+diff --git a/src/math/detail/polysolver.cpp b/src/math/detail/polysolver.cpp
+index 3aedfa0..9c39258 100644
+--- a/src/math/detail/polysolver.cpp
++++ b/src/math/detail/polysolver.cpp
+@@ -43,7 +43,7 @@ namespace fcl
+ namespace detail {
+ 
+ template
+-class PolySolver<double>;
++class FCL_EXPORT PolySolver<double>;
+ 
+ } // namespace detail
+ } // namespace fcl
+diff --git a/src/math/detail/project.cpp b/src/math/detail/project.cpp
+index e5bbe94..23571a3 100644
+--- a/src/math/detail/project.cpp
++++ b/src/math/detail/project.cpp
+@@ -44,7 +44,7 @@ namespace detail
+ {
+ 
+ template
+-class Project<double>;
++class FCL_EXPORT Project<double>;
+ 
+ } // namespace detail
+ } // namespace fcl
+diff --git a/src/math/geometry.cpp b/src/math/geometry.cpp
+index 577edcd..b4aec3a 100644
+--- a/src/math/geometry.cpp
++++ b/src/math/geometry.cpp
+@@ -41,38 +41,38 @@ namespace fcl {
+ 
+ //==============================================================================
+ template
+-void normalize(Vector3d& v, bool* signal);
++FCL_EXPORT void normalize(Vector3d& v, bool* signal);
+ 
+ //==============================================================================
+ template
+-void hat(Matrix3d& mat, const Vector3d& vec);
++FCL_EXPORT void hat(Matrix3d& mat, const Vector3d& vec);
+ 
+ //==============================================================================
+ template
+-void eigen(const Matrix3d& m, Vector3d& dout, Matrix3d& vout);
++FCL_EXPORT void eigen(const Matrix3d& m, Vector3d& dout, Matrix3d& vout);
+ 
+ //==============================================================================
+ template
+-void eigen_old(const Matrix3d& m, Vector3d& dout, Matrix3d& vout);
++FCL_EXPORT void eigen_old(const Matrix3d& m, Vector3d& dout, Matrix3d& vout);
+ 
+ //==============================================================================
+ template
+-void axisFromEigen(
++FCL_EXPORT void axisFromEigen(
+     const Matrix3d& eigenV, const Vector3d& eigenS, Matrix3d& axis);
+ 
+ //==============================================================================
+ template
+-void axisFromEigen(const Matrix3d& eigenV,
++FCL_EXPORT void axisFromEigen(const Matrix3d& eigenV,
+                    const Vector3d& eigenS,
+                    Transform3d& tf);
+ 
+ //==============================================================================
+ template
+-Matrix3d generateCoordinateSystem(const Vector3d& x_axis);
++FCL_EXPORT Matrix3d generateCoordinateSystem(const Vector3d& x_axis);
+ 
+ //==============================================================================
+ template
+-void getRadiusAndOriginAndRectangleSize(
++FCL_EXPORT void getRadiusAndOriginAndRectangleSize(
+     const Vector3d* const ps,
+     const Vector3d* const ps2,
+     Triangle* ts,
+@@ -85,7 +85,7 @@ void getRadiusAndOriginAndRectangleSize(
+ 
+ //==============================================================================
+ template
+-void getRadiusAndOriginAndRectangleSize(
++FCL_EXPORT void getRadiusAndOriginAndRectangleSize(
+     const Vector3d* const ps,
+     const Vector3d* const ps2,
+     Triangle* ts,
+@@ -97,7 +97,7 @@ void getRadiusAndOriginAndRectangleSize(
+ 
+ //==============================================================================
+ template
+-void circumCircleComputation(
++FCL_EXPORT void circumCircleComputation(
+     const Vector3d& a,
+     const Vector3d& b,
+     const Vector3d& c,
+@@ -106,7 +106,7 @@ void circumCircleComputation(
+ 
+ //==============================================================================
+ template
+-double maximumDistance(
++FCL_EXPORT double maximumDistance(
+     const Vector3d* const ps,
+     const Vector3d* const ps2,
+     Triangle* ts,
+@@ -116,7 +116,7 @@ double maximumDistance(
+ 
+ //==============================================================================
+ template
+-void getExtentAndCenter(
++FCL_EXPORT void getExtentAndCenter(
+     const Vector3d* const ps,
+     const Vector3d* const ps2,
+     Triangle* ts,
+@@ -128,7 +128,7 @@ void getExtentAndCenter(
+ 
+ //==============================================================================
+ template
+-void getCovariance(
++FCL_EXPORT void getCovariance(
+     const Vector3d* const ps,
+     const Vector3d* const ps2,
+     Triangle* ts,
+@@ -141,7 +141,7 @@ namespace detail {
+ 
+ //==============================================================================
+ template
+-double maximumDistance_mesh(
++FCL_EXPORT double maximumDistance_mesh(
+     const Vector3d* const ps,
+     const Vector3d* const ps2,
+     Triangle* ts,
+@@ -151,7 +151,7 @@ double maximumDistance_mesh(
+ 
+ //==============================================================================
+ template
+-double maximumDistance_pointcloud(
++FCL_EXPORT double maximumDistance_pointcloud(
+     const Vector3d* const ps,
+     const Vector3d* const ps2,
+     unsigned int* indices,
+@@ -160,7 +160,7 @@ double maximumDistance_pointcloud(
+ 
+ //==============================================================================
+ template
+-void getExtentAndCenter_pointcloud(
++FCL_EXPORT void getExtentAndCenter_pointcloud(
+     const Vector3d* const ps,
+     const Vector3d* const ps2,
+     unsigned int* indices,
+@@ -171,7 +171,7 @@ void getExtentAndCenter_pointcloud(
+ 
+ //==============================================================================
+ template
+-void getExtentAndCenter_mesh(
++FCL_EXPORT void getExtentAndCenter_mesh(
+     const Vector3d* const ps,
+     const Vector3d* const ps2,
+     Triangle* ts,
+diff --git a/src/math/motion/interp_motion.cpp b/src/math/motion/interp_motion.cpp
+index aa5e592..cb3c542 100644
+--- a/src/math/motion/interp_motion.cpp
++++ b/src/math/motion/interp_motion.cpp
+@@ -41,6 +41,6 @@ namespace fcl
+ {
+ 
+ template
+-class InterpMotion<double>;
++class FCL_EXPORT InterpMotion<double>;
+ 
+ } // namespace fcl
+diff --git a/src/math/motion/motion_base.cpp b/src/math/motion/motion_base.cpp
+index 981cc81..aeb4065 100644
+--- a/src/math/motion/motion_base.cpp
++++ b/src/math/motion/motion_base.cpp
+@@ -41,6 +41,6 @@ namespace fcl
+ {
+ 
+ template
+-class MotionBase<double>;
++class FCL_EXPORT MotionBase<double>;
+ 
+ } // namespace fcl
+diff --git a/src/math/motion/screw_motion.cpp b/src/math/motion/screw_motion.cpp
+index 65d1066..dffcbcf 100644
+--- a/src/math/motion/screw_motion.cpp
++++ b/src/math/motion/screw_motion.cpp
+@@ -41,6 +41,6 @@ namespace fcl
+ {
+ 
+ template
+-class ScrewMotion<double>;
++class FCL_EXPORT ScrewMotion<double>;
+ 
+ } // namespace fcl
+diff --git a/src/math/motion/spline_motion.cpp b/src/math/motion/spline_motion.cpp
+index 16601e2..b46de65 100644
+--- a/src/math/motion/spline_motion.cpp
++++ b/src/math/motion/spline_motion.cpp
+@@ -41,6 +41,6 @@ namespace fcl
+ {
+ 
+ template
+-class SplineMotion<double>;
++class FCL_EXPORT SplineMotion<double>;
+ 
+ } // namespace fcl
+diff --git a/src/math/motion/taylor_model/interval.cpp b/src/math/motion/taylor_model/interval.cpp
+index 236ec3d..a562db0 100644
+--- a/src/math/motion/taylor_model/interval.cpp
++++ b/src/math/motion/taylor_model/interval.cpp
+@@ -43,14 +43,14 @@ namespace fcl
+ 
+ //==============================================================================
+ template
+-struct Interval<double>;
++struct FCL_EXPORT Interval<double>;
+ 
+ //==============================================================================
+ template
+-Interval<double> bound(const Interval<double>& i, double v);
++FCL_EXPORT Interval<double> bound(const Interval<double>& i, double v);
+ 
+ //==============================================================================
+ template
+-Interval<double> bound(const Interval<double>& i, const Interval<double>& other);
++FCL_EXPORT Interval<double> bound(const Interval<double>& i, const Interval<double>& other);
+ 
+ } // namespace fcl
+diff --git a/src/math/motion/taylor_model/interval_matrix.cpp b/src/math/motion/taylor_model/interval_matrix.cpp
+index 1bb0f92..b37e10b 100644
+--- a/src/math/motion/taylor_model/interval_matrix.cpp
++++ b/src/math/motion/taylor_model/interval_matrix.cpp
+@@ -42,10 +42,10 @@ namespace fcl
+ 
+ //==============================================================================
+ template
+-struct IMatrix3<double>;
++struct FCL_EXPORT IMatrix3<double>;
+ 
+ //==============================================================================
+ template
+-IMatrix3<double> rotationConstrain(const IMatrix3<double>& m);
++FCL_EXPORT IMatrix3<double> rotationConstrain(const IMatrix3<double>& m);
+ 
+ } // namespace fcl
+diff --git a/src/math/motion/taylor_model/interval_vector.cpp b/src/math/motion/taylor_model/interval_vector.cpp
+index 9e216a6..bf2d55c 100644
+--- a/src/math/motion/taylor_model/interval_vector.cpp
++++ b/src/math/motion/taylor_model/interval_vector.cpp
+@@ -42,14 +42,14 @@ namespace fcl
+ 
+ //==============================================================================
+ template
+-struct IVector3<double>;
++struct FCL_EXPORT IVector3<double>;
+ 
+ //==============================================================================
+ template
+-IVector3<double> bound(const IVector3<double>& i, const Vector3<double>& v);
++FCL_EXPORT IVector3<double> bound(const IVector3<double>& i, const Vector3<double>& v);
+ 
+ //==============================================================================
+ template
+-IVector3<double> bound(const IVector3<double>& i, const IVector3<double>& v);
++FCL_EXPORT IVector3<double> bound(const IVector3<double>& i, const IVector3<double>& v);
+ 
+ } // namespace fcl
+diff --git a/src/math/motion/taylor_model/taylor_matrix.cpp b/src/math/motion/taylor_model/taylor_matrix.cpp
+index baa926f..8fe3d71 100644
+--- a/src/math/motion/taylor_model/taylor_matrix.cpp
++++ b/src/math/motion/taylor_model/taylor_matrix.cpp
+@@ -42,34 +42,34 @@ namespace fcl
+ 
+ //==============================================================================
+ template
+-class TMatrix3<double>;
++class FCL_EXPORT TMatrix3<double>;
+ 
+ //==============================================================================
+ template
+-TMatrix3<double> rotationConstrain(const TMatrix3<double>& m);
++FCL_EXPORT TMatrix3<double> rotationConstrain(const TMatrix3<double>& m);
+ 
+ //==============================================================================
+ template
+-TMatrix3<double> operator * (const Matrix3<double>& m, const TaylorModel<double>& a);
++FCL_EXPORT TMatrix3<double> operator * (const Matrix3<double>& m, const TaylorModel<double>& a);
+ 
+ //==============================================================================
+ template
+-TMatrix3<double> operator * (const TaylorModel<double>& a, const Matrix3<double>& m);
++FCL_EXPORT TMatrix3<double> operator * (const TaylorModel<double>& a, const Matrix3<double>& m);
+ 
+ //==============================================================================
+ template
+-TMatrix3<double> operator * (const TaylorModel<double>& a, const TMatrix3<double>& m);
++FCL_EXPORT TMatrix3<double> operator * (const TaylorModel<double>& a, const TMatrix3<double>& m);
+ 
+ //==============================================================================
+ template
+-TMatrix3<double> operator * (double d, const TMatrix3<double>& m);
++FCL_EXPORT TMatrix3<double> operator * (double d, const TMatrix3<double>& m);
+ 
+ //==============================================================================
+ template
+-TMatrix3<double> operator + (const Matrix3<double>& m1, const TMatrix3<double>& m2);
++FCL_EXPORT TMatrix3<double> operator + (const Matrix3<double>& m1, const TMatrix3<double>& m2);
+ 
+ //==============================================================================
+ template
+-TMatrix3<double> operator - (const Matrix3<double>& m1, const TMatrix3<double>& m2);
++FCL_EXPORT TMatrix3<double> operator - (const Matrix3<double>& m1, const TMatrix3<double>& m2);
+ 
+ } // namespace fcl
+diff --git a/src/math/motion/taylor_model/taylor_model.cpp b/src/math/motion/taylor_model/taylor_model.cpp
+index 58a98d7..e3addc3 100644
+--- a/src/math/motion/taylor_model/taylor_model.cpp
++++ b/src/math/motion/taylor_model/taylor_model.cpp
+@@ -45,30 +45,30 @@ namespace fcl
+ 
+ //==============================================================================
+ template
+-class TaylorModel<double>;
++class FCL_EXPORT TaylorModel<double>;
+ 
+ //==============================================================================
+ template
+-TaylorModel<double> operator * (double d, const TaylorModel<double>& a);
++FCL_EXPORT TaylorModel<double> operator * (double d, const TaylorModel<double>& a);
+ 
+ //==============================================================================
+ template
+-TaylorModel<double> operator + (double d, const TaylorModel<double>& a);
++FCL_EXPORT TaylorModel<double> operator + (double d, const TaylorModel<double>& a);
+ 
+ //==============================================================================
+ template
+-TaylorModel<double> operator - (double d, const TaylorModel<double>& a);
++FCL_EXPORT TaylorModel<double> operator - (double d, const TaylorModel<double>& a);
+ 
+ //==============================================================================
+ template
+-void generateTaylorModelForCosFunc(TaylorModel<double>& tm, double w, double q0);
++FCL_EXPORT void generateTaylorModelForCosFunc(TaylorModel<double>& tm, double w, double q0);
+ 
+ //==============================================================================
+ template
+-void generateTaylorModelForSinFunc(TaylorModel<double>& tm, double w, double q0);
++FCL_EXPORT void generateTaylorModelForSinFunc(TaylorModel<double>& tm, double w, double q0);
+ 
+ //==============================================================================
+ template
+-void generateTaylorModelForLinearFunc(TaylorModel<double>& tm, double p, double v);
++FCL_EXPORT void generateTaylorModelForLinearFunc(TaylorModel<double>& tm, double p, double v);
+ 
+ } // namespace fcl
+diff --git a/src/math/motion/taylor_model/taylor_vector.cpp b/src/math/motion/taylor_model/taylor_vector.cpp
+index 81acc6e..d430c71 100644
+--- a/src/math/motion/taylor_model/taylor_vector.cpp
++++ b/src/math/motion/taylor_model/taylor_vector.cpp
+@@ -42,22 +42,22 @@ namespace fcl
+ 
+ //==============================================================================
+ template
+-class TVector3<double>;
++class FCL_EXPORT TVector3<double>;
+ 
+ //==============================================================================
+ template
+-void generateTVector3ForLinearFunc(TVector3<double>& v, const Vector3<double>& position, const Vector3<double>& velocity);
++FCL_EXPORT void generateTVector3ForLinearFunc(TVector3<double>& v, const Vector3<double>& position, const Vector3<double>& velocity);
+ 
+ //==============================================================================
+ template
+-TVector3<double> operator * (const Vector3<double>& v, const TaylorModel<double>& a);
++FCL_EXPORT TVector3<double> operator * (const Vector3<double>& v, const TaylorModel<double>& a);
+ 
+ //==============================================================================
+ template
+-TVector3<double> operator + (const Vector3<double>& v1, const TVector3<double>& v2);
++FCL_EXPORT TVector3<double> operator + (const Vector3<double>& v1, const TVector3<double>& v2);
+ 
+ //==============================================================================
+ template
+-TVector3<double> operator - (const Vector3<double>& v1, const TVector3<double>& v2);
++FCL_EXPORT TVector3<double> operator - (const Vector3<double>& v1, const TVector3<double>& v2);
+ 
+ } // namespace fcl
+diff --git a/src/math/motion/taylor_model/time_interval.cpp b/src/math/motion/taylor_model/time_interval.cpp
+index 2587db4..669a05c 100644
+--- a/src/math/motion/taylor_model/time_interval.cpp
++++ b/src/math/motion/taylor_model/time_interval.cpp
+@@ -41,6 +41,6 @@ namespace fcl
+ {
+ 
+ template
+-struct TimeInterval<double>;
++struct FCL_EXPORT TimeInterval<double>;
+ 
+ } // namespace fcl
+diff --git a/src/math/motion/translation_motion.cpp b/src/math/motion/translation_motion.cpp
+index abfbb41..873a717 100644
+--- a/src/math/motion/translation_motion.cpp
++++ b/src/math/motion/translation_motion.cpp
+@@ -41,6 +41,6 @@ namespace fcl
+ {
+ 
+ template
+-class TranslationMotion<double>;
++class FCL_EXPORT TranslationMotion<double>;
+ 
+ } // namespace fcl
+diff --git a/src/math/motion/triangle_motion_bound_visitor.cpp b/src/math/motion/triangle_motion_bound_visitor.cpp
+index 1fd1f2b..9840e3e 100644
+--- a/src/math/motion/triangle_motion_bound_visitor.cpp
++++ b/src/math/motion/triangle_motion_bound_visitor.cpp
+@@ -41,6 +41,6 @@ namespace fcl
+ {
+ 
+ template
+-class TriangleMotionBoundVisitor<double>;
++class FCL_EXPORT TriangleMotionBoundVisitor<double>;
+ 
+ } // namespace fcl
+diff --git a/src/math/rng.cpp b/src/math/rng.cpp
+index c997dab..ae3093d 100644
+--- a/src/math/rng.cpp
++++ b/src/math/rng.cpp
+@@ -42,6 +42,6 @@ namespace fcl
+ 
+ //==============================================================================
+ template
+-class RNG<double>;
++class FCL_EXPORT RNG<double>;
+ 
+ } // namespace fcl
+diff --git a/src/math/sampler/sampler_base.cpp b/src/math/sampler/sampler_base.cpp
+index 593cbdc..7b2b7b1 100644
+--- a/src/math/sampler/sampler_base.cpp
++++ b/src/math/sampler/sampler_base.cpp
+@@ -41,6 +41,6 @@ namespace fcl
+ {
+ 
+ template
+-class SamplerBase<double>;
++class FCL_EXPORT SamplerBase<double>;
+ 
+ } // namespace fcl
+diff --git a/src/math/sampler/sampler_se2.cpp b/src/math/sampler/sampler_se2.cpp
+index 11495c1..4409bea 100644
+--- a/src/math/sampler/sampler_se2.cpp
++++ b/src/math/sampler/sampler_se2.cpp
+@@ -41,6 +41,6 @@ namespace fcl
+ {
+ 
+ template
+-class SamplerSE2<double>;
++class FCL_EXPORT SamplerSE2<double>;
+ 
+ } // namespace fcl
+diff --git a/src/math/sampler/sampler_se2_disk.cpp b/src/math/sampler/sampler_se2_disk.cpp
+index d70aab9..f4ddf52 100644
+--- a/src/math/sampler/sampler_se2_disk.cpp
++++ b/src/math/sampler/sampler_se2_disk.cpp
+@@ -41,6 +41,6 @@ namespace fcl
+ {
+ 
+ template
+-class SamplerSE2_disk<double>;
++class FCL_EXPORT SamplerSE2_disk<double>;
+ 
+ } // namespace fcl
+diff --git a/src/math/sampler/sampler_se3_euler.cpp b/src/math/sampler/sampler_se3_euler.cpp
+index 3f97745..9f8c689 100644
+--- a/src/math/sampler/sampler_se3_euler.cpp
++++ b/src/math/sampler/sampler_se3_euler.cpp
+@@ -41,6 +41,6 @@ namespace fcl
+ {
+ 
+ template
+-class SamplerSE3Euler<double>;
++class FCL_EXPORT SamplerSE3Euler<double>;
+ 
+ } // namespace fcl
+diff --git a/src/math/sampler/sampler_se3_euler_ball.cpp b/src/math/sampler/sampler_se3_euler_ball.cpp
+index 3570439..53aaa08 100644
+--- a/src/math/sampler/sampler_se3_euler_ball.cpp
++++ b/src/math/sampler/sampler_se3_euler_ball.cpp
+@@ -41,6 +41,6 @@ namespace fcl
+ {
+ 
+ template
+-class SamplerSE3Euler_ball<double>;
++class FCL_EXPORT SamplerSE3Euler_ball<double>;
+ 
+ } // namespace fcl
+diff --git a/src/math/sampler/sampler_se3_quat.cpp b/src/math/sampler/sampler_se3_quat.cpp
+index 0d0999e..181941b 100644
+--- a/src/math/sampler/sampler_se3_quat.cpp
++++ b/src/math/sampler/sampler_se3_quat.cpp
+@@ -41,6 +41,6 @@ namespace fcl
+ {
+ 
+ template
+-class SamplerSE3Quat<double>;
++class FCL_EXPORT SamplerSE3Quat<double>;
+ 
+ } // namespace fcl
+diff --git a/src/math/sampler/sampler_se3_quat_ball.cpp b/src/math/sampler/sampler_se3_quat_ball.cpp
+index 0db789a..83f246b 100644
+--- a/src/math/sampler/sampler_se3_quat_ball.cpp
++++ b/src/math/sampler/sampler_se3_quat_ball.cpp
+@@ -41,6 +41,6 @@ namespace fcl
+ {
+ 
+ template
+-class SamplerSE3Quat_ball<double>;
++class FCL_EXPORT SamplerSE3Quat_ball<double>;
+ 
+ } // namespace fcl
+diff --git a/src/math/variance3.cpp b/src/math/variance3.cpp
+index 91255f8..fb5bd85 100644
+--- a/src/math/variance3.cpp
++++ b/src/math/variance3.cpp
+@@ -41,6 +41,6 @@ namespace fcl
+ {
+ 
+ template
+-class Variance3<double>;
++class FCL_EXPORT Variance3<double>;
+ 
+ } // namespace fcl
+diff --git a/src/narrowphase/collision.cpp b/src/narrowphase/collision.cpp
+index ad51861..e7df177 100644
+--- a/src/narrowphase/collision.cpp
++++ b/src/narrowphase/collision.cpp
+@@ -42,7 +42,7 @@ namespace fcl
+ 
+ //==============================================================================
+ template
+-std::size_t collide(
++FCL_EXPORT std::size_t collide(
+     const CollisionObject<double>* o1,
+     const CollisionObject<double>* o2,
+     const CollisionRequest<double>& request,
+@@ -50,7 +50,7 @@ std::size_t collide(
+ 
+ //==============================================================================
+ template
+-std::size_t collide(
++FCL_EXPORT std::size_t collide(
+     const CollisionGeometry<double>* o1,
+     const Transform3<double>& tf1,
+     const CollisionGeometry<double>* o2,
+diff --git a/src/narrowphase/collision_object.cpp b/src/narrowphase/collision_object.cpp
+index 6362db1..fac663f 100644
+--- a/src/narrowphase/collision_object.cpp
++++ b/src/narrowphase/collision_object.cpp
+@@ -41,6 +41,6 @@ namespace fcl
+ {
+ 
+ template
+-class CollisionObject<double>;
++class FCL_EXPORT CollisionObject<double>;
+ 
+ } // namespace fcl
+diff --git a/src/narrowphase/collision_request.cpp b/src/narrowphase/collision_request.cpp
+index d47be1e..f808b8f 100644
+--- a/src/narrowphase/collision_request.cpp
++++ b/src/narrowphase/collision_request.cpp
+@@ -41,6 +41,6 @@ namespace fcl
+ {
+ 
+ template
+-struct CollisionRequest<double>;
++struct FCL_EXPORT CollisionRequest<double>;
+ 
+ } // namespace fcl
+diff --git a/src/narrowphase/collision_result.cpp b/src/narrowphase/collision_result.cpp
+index 047193b..7429829 100644
+--- a/src/narrowphase/collision_result.cpp
++++ b/src/narrowphase/collision_result.cpp
+@@ -41,6 +41,6 @@ namespace fcl
+ {
+ 
+ template
+-struct CollisionResult<double>;
++struct FCL_EXPORT CollisionResult<double>;
+ 
+ } // namespace fcl
+diff --git a/src/narrowphase/contact.cpp b/src/narrowphase/contact.cpp
+index 4ca0c5e..3184b5a 100644
+--- a/src/narrowphase/contact.cpp
++++ b/src/narrowphase/contact.cpp
+@@ -41,6 +41,6 @@ namespace fcl
+ {
+ 
+ template
+-struct Contact<double>;
++struct FCL_EXPORT Contact<double>;
+ 
+ } // namespace fcl
+diff --git a/src/narrowphase/contact_point.cpp b/src/narrowphase/contact_point.cpp
+index 415e985..d23ace4 100644
+--- a/src/narrowphase/contact_point.cpp
++++ b/src/narrowphase/contact_point.cpp
+@@ -42,15 +42,15 @@ namespace fcl
+ 
+ //==============================================================================
+ template
+-struct ContactPoint<double>;
++struct FCL_EXPORT ContactPoint<double>;
+ 
+ //==============================================================================
+ template
+-bool comparePenDepth(
++FCL_EXPORT bool comparePenDepth(
+     const ContactPoint<double>& _cp1, const ContactPoint<double>& _cp2);
+ 
+ //==============================================================================
+ template
+-void flipNormal(std::vector<ContactPoint<double>>& contacts);
++FCL_EXPORT void flipNormal(std::vector<ContactPoint<double>>& contacts);
+ 
+ } // namespace fcl
+diff --git a/src/narrowphase/continuous_collision.cpp b/src/narrowphase/continuous_collision.cpp
+index bbbce19..39fe983 100644
+--- a/src/narrowphase/continuous_collision.cpp
++++ b/src/narrowphase/continuous_collision.cpp
+@@ -42,7 +42,7 @@ namespace fcl
+ 
+ //==============================================================================
+ template
+-double continuousCollide(
++FCL_EXPORT double continuousCollide(
+     const CollisionGeometry<double>* o1,
+     const MotionBase<double>* motion1,
+     const CollisionGeometry<double>* o2,
+@@ -52,7 +52,7 @@ double continuousCollide(
+ 
+ //==============================================================================
+ template
+-double continuousCollide(
++FCL_EXPORT double continuousCollide(
+     const CollisionGeometry<double>* o1,
+     const Transform3<double>& tf1_beg,
+     const Transform3<double>& tf1_end,
+@@ -64,7 +64,7 @@ double continuousCollide(
+ 
+ //==============================================================================
+ template
+-double continuousCollide(
++FCL_EXPORT double continuousCollide(
+     const CollisionObject<double>* o1,
+     const Transform3<double>& tf1_end,
+     const CollisionObject<double>* o2,
+@@ -74,7 +74,7 @@ double continuousCollide(
+ 
+ //==============================================================================
+ template
+-double collide(
++FCL_EXPORT double collide(
+     const ContinuousCollisionObject<double>* o1,
+     const ContinuousCollisionObject<double>* o2,
+     const ContinuousCollisionRequest<double>& request,
+diff --git a/src/narrowphase/continuous_collision_object.cpp b/src/narrowphase/continuous_collision_object.cpp
+index 93b7672..7688a58 100644
+--- a/src/narrowphase/continuous_collision_object.cpp
++++ b/src/narrowphase/continuous_collision_object.cpp
+@@ -41,6 +41,6 @@ namespace fcl
+ {
+ 
+ template
+-class ContinuousCollisionObject<double>;
++class FCL_EXPORT ContinuousCollisionObject<double>;
+ 
+ } // namespace fcl
+diff --git a/src/narrowphase/continuous_collision_request.cpp b/src/narrowphase/continuous_collision_request.cpp
+index 46dc3ea..6b62af6 100644
+--- a/src/narrowphase/continuous_collision_request.cpp
++++ b/src/narrowphase/continuous_collision_request.cpp
+@@ -41,6 +41,6 @@ namespace fcl
+ {
+ 
+ template
+-struct ContinuousCollisionRequest<double>;
++struct FCL_EXPORT ContinuousCollisionRequest<double>;
+ 
+ } // namespace fcl
+diff --git a/src/narrowphase/continuous_collision_result.cpp b/src/narrowphase/continuous_collision_result.cpp
+index 3d9c559..c60821e 100644
+--- a/src/narrowphase/continuous_collision_result.cpp
++++ b/src/narrowphase/continuous_collision_result.cpp
+@@ -41,6 +41,6 @@ namespace fcl
+ {
+ 
+ template
+-struct ContinuousCollisionResult<double>;
++struct FCL_EXPORT ContinuousCollisionResult<double>;
+ 
+ } // namespace fcl
+diff --git a/src/narrowphase/cost_source.cpp b/src/narrowphase/cost_source.cpp
+index 9c60638..b10af6b 100644
+--- a/src/narrowphase/cost_source.cpp
++++ b/src/narrowphase/cost_source.cpp
+@@ -41,6 +41,6 @@ namespace fcl
+ {
+ 
+ template
+-struct CostSource<double>;
++struct FCL_EXPORT CostSource<double>;
+ 
+ } // namespace fcl
+diff --git a/src/narrowphase/detail/convexity_based_algorithm/epa.cpp b/src/narrowphase/detail/convexity_based_algorithm/epa.cpp
+index eae9f17..a581f46 100644
+--- a/src/narrowphase/detail/convexity_based_algorithm/epa.cpp
++++ b/src/narrowphase/detail/convexity_based_algorithm/epa.cpp
+@@ -44,7 +44,7 @@ namespace detail
+ {
+ 
+ template
+-struct EPA<double>;
++struct FCL_EXPORT EPA<double>;
+ 
+ } // namespace detail
+ } // namespace fcl
+diff --git a/src/narrowphase/detail/convexity_based_algorithm/gjk.cpp b/src/narrowphase/detail/convexity_based_algorithm/gjk.cpp
+index 6b693eb..a4a00f3 100644
+--- a/src/narrowphase/detail/convexity_based_algorithm/gjk.cpp
++++ b/src/narrowphase/detail/convexity_based_algorithm/gjk.cpp
+@@ -44,7 +44,7 @@ namespace detail
+ {
+ 
+ template
+-struct GJK<double>;
++struct FCL_EXPORT GJK<double>;
+ 
+ } // namespace detail
+ } // namespace fcl
+diff --git a/src/narrowphase/detail/convexity_based_algorithm/gjk_libccd.cpp b/src/narrowphase/detail/convexity_based_algorithm/gjk_libccd.cpp
+index 7c3714e..f1bf00c 100644
+--- a/src/narrowphase/detail/convexity_based_algorithm/gjk_libccd.cpp
++++ b/src/narrowphase/detail/convexity_based_algorithm/gjk_libccd.cpp
+@@ -45,40 +45,40 @@ namespace detail
+ 
+ //==============================================================================
+ template
+-class GJKInitializer<double, Cylinder<double>>;
++class FCL_EXPORT GJKInitializer<double, Cylinder<double>>;
+ 
+ //==============================================================================
+ template
+-class GJKInitializer<double, Sphere<double>>;
++class FCL_EXPORT GJKInitializer<double, Sphere<double>>;
+ 
+ //==============================================================================
+ template
+-class GJKInitializer<double, Ellipsoid<double>>;
++class FCL_EXPORT GJKInitializer<double, Ellipsoid<double>>;
+ 
+ //==============================================================================
+ template
+-class GJKInitializer<double, Box<double>>;
++class FCL_EXPORT GJKInitializer<double, Box<double>>;
+ 
+ //==============================================================================
+ template
+-class GJKInitializer<double, Capsule<double>>;
++class FCL_EXPORT GJKInitializer<double, Capsule<double>>;
+ 
+ //==============================================================================
+ template
+-class GJKInitializer<double, Cone<double>>;
++class FCL_EXPORT GJKInitializer<double, Cone<double>>;
+ 
+ //==============================================================================
+ template
+-class GJKInitializer<double, Convex<double>>;
++class FCL_EXPORT GJKInitializer<double, Convex<double>>;
+ 
+ //==============================================================================
+ template
+-void* triCreateGJKObject(
++FCL_EXPORT void* triCreateGJKObject(
+     const Vector3d& P1, const Vector3d& P2, const Vector3d& P3);
+ 
+ //==============================================================================
+ template
+-void* triCreateGJKObject(
++FCL_EXPORT void* triCreateGJKObject(
+     const Vector3d& P1,
+     const Vector3d& P2,
+     const Vector3d& P3,
+@@ -86,7 +86,7 @@ void* triCreateGJKObject(
+ 
+ //==============================================================================
+ template
+-bool GJKCollide(
++FCL_EXPORT bool GJKCollide(
+     void* obj1,
+     ccd_support_fn supp1,
+     ccd_center_fn cen1,
+@@ -101,7 +101,7 @@ bool GJKCollide(
+ 
+ //==============================================================================
+ template
+-bool GJKDistance(
++FCL_EXPORT bool GJKDistance(
+     void* obj1,
+     ccd_support_fn supp1,
+     void* obj2,
+@@ -113,7 +113,7 @@ bool GJKDistance(
+     Vector3d* p2);
+ 
+ template
+-bool GJKSignedDistance(
++FCL_EXPORT bool GJKSignedDistance(
+     void* obj1,
+     ccd_support_fn supp1,
+     void* obj2,
+diff --git a/src/narrowphase/detail/convexity_based_algorithm/minkowski_diff.cpp b/src/narrowphase/detail/convexity_based_algorithm/minkowski_diff.cpp
+index af2d711..a8d7742 100644
+--- a/src/narrowphase/detail/convexity_based_algorithm/minkowski_diff.cpp
++++ b/src/narrowphase/detail/convexity_based_algorithm/minkowski_diff.cpp
+@@ -44,7 +44,7 @@ namespace detail
+ {
+ 
+ template
+-struct MinkowskiDiff<double>;
++struct FCL_EXPORT MinkowskiDiff<double>;
+ 
+ } // namespace detail
+ } // namespace fcl
+diff --git a/src/narrowphase/detail/gjk_solver_indep.cpp b/src/narrowphase/detail/gjk_solver_indep.cpp
+index 8c17e3a..5e1bee8 100755
+--- a/src/narrowphase/detail/gjk_solver_indep.cpp
++++ b/src/narrowphase/detail/gjk_solver_indep.cpp
+@@ -44,7 +44,7 @@ namespace detail
+ {
+ 
+ template
+-struct GJKSolver_indep<double>;
++struct FCL_EXPORT GJKSolver_indep<double>;
+ 
+ } // namespace detail
+ } // namespace fcl
+diff --git a/src/narrowphase/detail/gjk_solver_libccd.cpp b/src/narrowphase/detail/gjk_solver_libccd.cpp
+index e906a06..5811c35 100755
+--- a/src/narrowphase/detail/gjk_solver_libccd.cpp
++++ b/src/narrowphase/detail/gjk_solver_libccd.cpp
+@@ -44,7 +44,7 @@ namespace detail
+ {
+ 
+ template
+-struct GJKSolver_libccd<double>;
++struct FCL_EXPORT GJKSolver_libccd<double>;
+ 
+ } // namespace detail
+ } // namespace fcl
+diff --git a/src/narrowphase/detail/primitive_shape_algorithm/box_box.cpp b/src/narrowphase/detail/primitive_shape_algorithm/box_box.cpp
+index aa27182..0293f39 100755
+--- a/src/narrowphase/detail/primitive_shape_algorithm/box_box.cpp
++++ b/src/narrowphase/detail/primitive_shape_algorithm/box_box.cpp
+@@ -45,21 +45,21 @@ namespace detail
+ 
+ //==============================================================================
+ template
+-void lineClosestApproach(const Vector3<double>& pa, const Vector3<double>& ua,
++FCL_EXPORT void lineClosestApproach(const Vector3<double>& pa, const Vector3<double>& ua,
+                          const Vector3<double>& pb, const Vector3<double>& ub,
+                          double* alpha, double* beta);
+ 
+ //==============================================================================
+ template
+-int intersectRectQuad2(double h[2], double p[8], double ret[16]);
++FCL_EXPORT int intersectRectQuad2(double h[2], double p[8], double ret[16]);
+ 
+ //==============================================================================
+ template
+-void cullPoints2(int n, double p[], int m, int i0, int iret[]);
++FCL_EXPORT void cullPoints2(int n, double p[], int m, int i0, int iret[]);
+ 
+ //==============================================================================
+ template
+-int boxBox2(
++FCL_EXPORT int boxBox2(
+     const Vector3<double>& side1,
+     const Transform3<double>& tf1,
+     const Vector3<double>& side2,
+@@ -72,7 +72,7 @@ int boxBox2(
+ 
+ //==============================================================================
+ template
+-bool boxBoxIntersect(const Box<double>& s1, const Transform3<double>& tf1,
++FCL_EXPORT bool boxBoxIntersect(const Box<double>& s1, const Transform3<double>& tf1,
+                      const Box<double>& s2, const Transform3<double>& tf2,
+                      std::vector<ContactPoint<double>>* contacts_);
+ 
+diff --git a/src/narrowphase/detail/primitive_shape_algorithm/capsule_capsule.cpp b/src/narrowphase/detail/primitive_shape_algorithm/capsule_capsule.cpp
+index bf72d5c..c12710f 100644
+--- a/src/narrowphase/detail/primitive_shape_algorithm/capsule_capsule.cpp
++++ b/src/narrowphase/detail/primitive_shape_algorithm/capsule_capsule.cpp
+@@ -45,10 +45,10 @@ namespace detail
+ 
+ //==============================================================================
+ template
+-double clamp(double n, double min, double max);
++FCL_EXPORT double clamp(double n, double min, double max);
+ 
+ //==============================================================================
+-template double closestPtSegmentSegment(const Vector3d& p_FP1,
++template FCL_EXPORT double closestPtSegmentSegment(const Vector3d& p_FP1,
+                                         const Vector3d& p_FQ1,
+                                         const Vector3d& p_FP2,
+                                         const Vector3d& p_FQ2, double* s,
+@@ -57,7 +57,7 @@ template double closestPtSegmentSegment(const Vector3d& p_FP1,
+ 
+ //==============================================================================
+ template
+-bool capsuleCapsuleDistance(
++FCL_EXPORT bool capsuleCapsuleDistance(
+     const Capsule<double>& s1, const Transform3<double>& tf1,
+     const Capsule<double>& s2, const Transform3<double>& tf2,
+     double* dist, Vector3d* p1_res, Vector3d* p2_res);
+diff --git a/src/narrowphase/detail/primitive_shape_algorithm/halfspace.cpp b/src/narrowphase/detail/primitive_shape_algorithm/halfspace.cpp
+index 4f39570..299f080 100755
+--- a/src/narrowphase/detail/primitive_shape_algorithm/halfspace.cpp
++++ b/src/narrowphase/detail/primitive_shape_algorithm/halfspace.cpp
+@@ -45,76 +45,76 @@ namespace detail
+ 
+ //==============================================================================
+ template <>
+-float halfspaceIntersectTolerance()
++FCL_EXPORT float halfspaceIntersectTolerance()
+ {
+   return 0.0001f;
+ }
+ 
+ //==============================================================================
+ template <>
+-double halfspaceIntersectTolerance()
++FCL_EXPORT double halfspaceIntersectTolerance()
+ {
+   return 0.0000001;
+ }
+ 
+ //==============================================================================
+ template
+-bool sphereHalfspaceIntersect(
++FCL_EXPORT bool sphereHalfspaceIntersect(
+     const Sphere<double>& s1, const Transform3<double>& tf1,
+     const Halfspace<double>& s2, const Transform3<double>& tf2,
+     std::vector<ContactPoint<double>>* contacts);
+ 
+ //==============================================================================
+ template
+-bool ellipsoidHalfspaceIntersect(
++FCL_EXPORT bool ellipsoidHalfspaceIntersect(
+     const Ellipsoid<double>& s1, const Transform3<double>& tf1,
+     const Halfspace<double>& s2, const Transform3<double>& tf2,
+     std::vector<ContactPoint<double>>* contacts);
+ 
+ //==============================================================================
+ template
+-bool boxHalfspaceIntersect(
++FCL_EXPORT bool boxHalfspaceIntersect(
+     const Box<double>& s1, const Transform3<double>& tf1,
+     const Halfspace<double>& s2, const Transform3<double>& tf2);
+ 
+ //==============================================================================
+ template
+-bool boxHalfspaceIntersect(
++FCL_EXPORT bool boxHalfspaceIntersect(
+     const Box<double>& s1, const Transform3<double>& tf1,
+     const Halfspace<double>& s2, const Transform3<double>& tf2,
+     std::vector<ContactPoint<double>>* contacts);
+ 
+ //==============================================================================
+ template
+-bool capsuleHalfspaceIntersect(
++FCL_EXPORT bool capsuleHalfspaceIntersect(
+     const Capsule<double>& s1, const Transform3<double>& tf1,
+     const Halfspace<double>& s2, const Transform3<double>& tf2,
+     std::vector<ContactPoint<double>>* contacts);
+ 
+ //==============================================================================
+ template
+-bool cylinderHalfspaceIntersect(
++FCL_EXPORT bool cylinderHalfspaceIntersect(
+     const Cylinder<double>& s1, const Transform3<double>& tf1,
+     const Halfspace<double>& s2, const Transform3<double>& tf2,
+     std::vector<ContactPoint<double>>* contacts);
+ 
+ //==============================================================================
+ template
+-bool coneHalfspaceIntersect(
++FCL_EXPORT bool coneHalfspaceIntersect(
+     const Cone<double>& s1, const Transform3<double>& tf1,
+     const Halfspace<double>& s2, const Transform3<double>& tf2,
+     std::vector<ContactPoint<double>>* contacts);
+ 
+ //==============================================================================
+ template
+-bool convexHalfspaceIntersect(
++FCL_EXPORT bool convexHalfspaceIntersect(
+     const Convex<double>& s1, const Transform3<double>& tf1,
+     const Halfspace<double>& s2, const Transform3<double>& tf2,
+     Vector3<double>* contact_points, double* penetration_depth, Vector3<double>* normal);
+ 
+ //==============================================================================
+ template
+-bool convexHalfspaceIntersect(const Convex<double>& convex_C,
++FCL_EXPORT bool convexHalfspaceIntersect(const Convex<double>& convex_C,
+                               const Transform3<double>& X_FC,
+                               const Halfspace<double>& half_space_H,
+                               const Transform3<double>& X_FH,
+@@ -122,14 +122,14 @@ bool convexHalfspaceIntersect(const Convex<double>& convex_C,
+ 
+ //==============================================================================
+ template
+-bool halfspaceTriangleIntersect(
++FCL_EXPORT bool halfspaceTriangleIntersect(
+     const Halfspace<double>& s1, const Transform3<double>& tf1,
+     const Vector3<double>& P1, const Vector3<double>& P2, const Vector3<double>& P3, const Transform3<double>& tf2,
+     Vector3<double>* contact_points, double* penetration_depth, Vector3<double>* normal);
+ 
+ //==============================================================================
+ template
+-bool planeHalfspaceIntersect(
++FCL_EXPORT bool planeHalfspaceIntersect(
+     const Plane<double>& s1, const Transform3<double>& tf1,
+     const Halfspace<double>& s2, const Transform3<double>& tf2,
+     Plane<double>& pl,
+@@ -139,7 +139,7 @@ bool planeHalfspaceIntersect(
+ 
+ //==============================================================================
+ template
+-bool halfspacePlaneIntersect(
++FCL_EXPORT bool halfspacePlaneIntersect(
+     const Halfspace<double>& s1, const Transform3<double>& tf1,
+     const Plane<double>& s2, const Transform3<double>& tf2,
+     Plane<double>& pl, Vector3<double>& p, Vector3<double>& d,
+@@ -148,7 +148,7 @@ bool halfspacePlaneIntersect(
+ 
+ //==============================================================================
+ template
+-bool halfspaceIntersect(
++FCL_EXPORT bool halfspaceIntersect(
+     const Halfspace<double>& s1, const Transform3<double>& tf1,
+     const Halfspace<double>& s2, const Transform3<double>& tf2,
+     Vector3<double>& p, Vector3<double>& d,
+diff --git a/src/narrowphase/detail/primitive_shape_algorithm/intersect.cpp b/src/narrowphase/detail/primitive_shape_algorithm/intersect.cpp
+index b4d8a22..82f4d0c 100644
+--- a/src/narrowphase/detail/primitive_shape_algorithm/intersect.cpp
++++ b/src/narrowphase/detail/primitive_shape_algorithm/intersect.cpp
+@@ -44,7 +44,7 @@ namespace detail
+ {
+ 
+ template
+-class Intersect<double>;
++class FCL_EXPORT Intersect<double>;
+ 
+ } // namespace detail
+ } // namespace fcl
+diff --git a/src/narrowphase/detail/primitive_shape_algorithm/plane.cpp b/src/narrowphase/detail/primitive_shape_algorithm/plane.cpp
+index 5cee207..4e0dd06 100755
+--- a/src/narrowphase/detail/primitive_shape_algorithm/plane.cpp
++++ b/src/narrowphase/detail/primitive_shape_algorithm/plane.cpp
+@@ -45,79 +45,79 @@ namespace detail
+ 
+ //==============================================================================
+ template <>
+-double planeIntersectTolerance()
++FCL_EXPORT double planeIntersectTolerance()
+ {
+   return 0.0000001;
+ }
+ 
+ //==============================================================================
+ template <>
+-float planeIntersectTolerance()
++FCL_EXPORT float planeIntersectTolerance()
+ {
+   return 0.0001;
+ }
+ 
+ //==============================================================================
+ template
+-bool spherePlaneIntersect(const Sphere<double>& s1, const Transform3<double>& tf1,
++FCL_EXPORT bool spherePlaneIntersect(const Sphere<double>& s1, const Transform3<double>& tf1,
+                           const Plane<double>& s2, const Transform3<double>& tf2,
+                           std::vector<ContactPoint<double>>* contacts);
+ 
+ //==============================================================================
+ template
+-bool ellipsoidPlaneIntersect(const Ellipsoid<double>& s1, const Transform3<double>& tf1,
++FCL_EXPORT bool ellipsoidPlaneIntersect(const Ellipsoid<double>& s1, const Transform3<double>& tf1,
+                              const Plane<double>& s2, const Transform3<double>& tf2,
+                              std::vector<ContactPoint<double>>* contacts);
+ 
+ //==============================================================================
+ template
+-bool boxPlaneIntersect(const Box<double>& s1, const Transform3<double>& tf1,
++FCL_EXPORT bool boxPlaneIntersect(const Box<double>& s1, const Transform3<double>& tf1,
+                        const Plane<double>& s2, const Transform3<double>& tf2,
+                        std::vector<ContactPoint<double>>* contacts);
+ 
+ //==============================================================================
+ template
+-bool capsulePlaneIntersect(const Capsule<double>& s1, const Transform3<double>& tf1,
++FCL_EXPORT bool capsulePlaneIntersect(const Capsule<double>& s1, const Transform3<double>& tf1,
+                            const Plane<double>& s2, const Transform3<double>& tf2);
+ 
+ //==============================================================================
+ template
+-bool capsulePlaneIntersect(const Capsule<double>& s1, const Transform3<double>& tf1,
++FCL_EXPORT bool capsulePlaneIntersect(const Capsule<double>& s1, const Transform3<double>& tf1,
+                            const Plane<double>& s2, const Transform3<double>& tf2,
+                            std::vector<ContactPoint<double>>* contacts);
+ 
+ //==============================================================================
+ template
+-bool cylinderPlaneIntersect(const Cylinder<double>& s1, const Transform3<double>& tf1,
++FCL_EXPORT bool cylinderPlaneIntersect(const Cylinder<double>& s1, const Transform3<double>& tf1,
+                             const Plane<double>& s2, const Transform3<double>& tf2);
+ 
+ //==============================================================================
+ template
+-bool cylinderPlaneIntersect(const Cylinder<double>& s1, const Transform3<double>& tf1,
++FCL_EXPORT bool cylinderPlaneIntersect(const Cylinder<double>& s1, const Transform3<double>& tf1,
+                             const Plane<double>& s2, const Transform3<double>& tf2,
+                             std::vector<ContactPoint<double>>* contacts);
+ 
+ //==============================================================================
+ template
+-bool conePlaneIntersect(const Cone<double>& s1, const Transform3<double>& tf1,
++FCL_EXPORT bool conePlaneIntersect(const Cone<double>& s1, const Transform3<double>& tf1,
+                         const Plane<double>& s2, const Transform3<double>& tf2,
+                         std::vector<ContactPoint<double>>* contacts);
+ 
+ //==============================================================================
+ template
+-bool convexPlaneIntersect(const Convex<double>& s1, const Transform3<double>& tf1,
++FCL_EXPORT bool convexPlaneIntersect(const Convex<double>& s1, const Transform3<double>& tf1,
+                           const Plane<double>& s2, const Transform3<double>& tf2,
+                           Vector3<double>* contact_points, double* penetration_depth, Vector3<double>* normal);
+ 
+ //==============================================================================
+ template
+-bool planeTriangleIntersect(const Plane<double>& s1, const Transform3<double>& tf1,
++FCL_EXPORT bool planeTriangleIntersect(const Plane<double>& s1, const Transform3<double>& tf1,
+                             const Vector3<double>& P1, const Vector3<double>& P2, const Vector3<double>& P3, const Transform3<double>& tf2,
+                             Vector3<double>* contact_points, double* penetration_depth, Vector3<double>* normal);
+ 
+ //==============================================================================
+ template
+-bool planeIntersect(const Plane<double>& s1, const Transform3<double>& tf1,
++FCL_EXPORT bool planeIntersect(const Plane<double>& s1, const Transform3<double>& tf1,
+                     const Plane<double>& s2, const Transform3<double>& tf2,
+                     std::vector<ContactPoint<double>>* contacts);
+ 
+diff --git a/src/narrowphase/detail/primitive_shape_algorithm/sphere_box.cpp b/src/narrowphase/detail/primitive_shape_algorithm/sphere_box.cpp
+index 291ad30..9d04f7e 100644
+--- a/src/narrowphase/detail/primitive_shape_algorithm/sphere_box.cpp
++++ b/src/narrowphase/detail/primitive_shape_algorithm/sphere_box.cpp
+@@ -43,14 +43,14 @@ namespace detail
+ {
+ 
+ //==============================================================================
+-template bool
++template FCL_EXPORT bool
+ sphereBoxIntersect(const Sphere<double>& sphere, const Transform3<double>& X_FS,
+                    const Box<double>& box, const Transform3<double>& X_FB,
+                    std::vector<ContactPoint<double>>* contacts);
+ 
+ //==============================================================================
+ 
+-template bool
++template FCL_EXPORT bool
+ sphereBoxDistance(const Sphere<double>& sphere, const Transform3<double>& X_FS,
+                   const Box<double>& box, const Transform3<double>& X_FB,
+                   double* distance, Vector3<double>* p_FSb,
+diff --git a/src/narrowphase/detail/primitive_shape_algorithm/sphere_capsule.cpp b/src/narrowphase/detail/primitive_shape_algorithm/sphere_capsule.cpp
+index 90d553d..782d89f 100755
+--- a/src/narrowphase/detail/primitive_shape_algorithm/sphere_capsule.cpp
++++ b/src/narrowphase/detail/primitive_shape_algorithm/sphere_capsule.cpp
+@@ -45,7 +45,7 @@ namespace detail
+ 
+ //==============================================================================
+ template
+-void lineSegmentPointClosestToPoint(
++FCL_EXPORT void lineSegmentPointClosestToPoint(
+     const Vector3<double> &p,
+     const Vector3<double> &s1,
+     const Vector3<double> &s2,
+@@ -53,13 +53,13 @@ void lineSegmentPointClosestToPoint(
+ 
+ //==============================================================================
+ template
+-bool sphereCapsuleIntersect(const Sphere<double>& s1, const Transform3<double>& tf1,
++FCL_EXPORT bool sphereCapsuleIntersect(const Sphere<double>& s1, const Transform3<double>& tf1,
+                             const Capsule<double>& s2, const Transform3<double>& tf2,
+                             std::vector<ContactPoint<double>>* contacts);
+ 
+ //==============================================================================
+ template
+-bool sphereCapsuleDistance(const Sphere<double>& s1, const Transform3<double>& tf1,
++FCL_EXPORT bool sphereCapsuleDistance(const Sphere<double>& s1, const Transform3<double>& tf1,
+                            const Capsule<double>& s2, const Transform3<double>& tf2,
+                            double* dist, Vector3<double>* p1, Vector3<double>* p2);
+ 
+diff --git a/src/narrowphase/detail/primitive_shape_algorithm/sphere_cylinder.cpp b/src/narrowphase/detail/primitive_shape_algorithm/sphere_cylinder.cpp
+index d9e87d5..43308d6 100644
+--- a/src/narrowphase/detail/primitive_shape_algorithm/sphere_cylinder.cpp
++++ b/src/narrowphase/detail/primitive_shape_algorithm/sphere_cylinder.cpp
+@@ -42,7 +42,7 @@ namespace fcl
+ namespace detail
+ {
+ 
+-template bool
++template FCL_EXPORT bool
+ sphereCylinderIntersect(const Sphere<double>& sphere,
+                         const Transform3<double>& X_FS,
+                         const Cylinder<double>& cylinder,
+@@ -51,7 +51,7 @@ sphereCylinderIntersect(const Sphere<double>& sphere,
+ 
+ //==============================================================================
+ 
+-template bool
++template FCL_EXPORT bool
+ sphereCylinderDistance(const Sphere<double>& sphere,
+                        const Transform3<double>& X_FS,
+                        const Cylinder<double>& cylinder,
+diff --git a/src/narrowphase/detail/primitive_shape_algorithm/sphere_sphere.cpp b/src/narrowphase/detail/primitive_shape_algorithm/sphere_sphere.cpp
+index e4e76ec..cdde4b8 100755
+--- a/src/narrowphase/detail/primitive_shape_algorithm/sphere_sphere.cpp
++++ b/src/narrowphase/detail/primitive_shape_algorithm/sphere_sphere.cpp
+@@ -45,13 +45,13 @@ namespace detail
+ 
+ //==============================================================================
+ template
+-bool sphereSphereIntersect(const Sphere<double>& s1, const Transform3<double>& tf1,
++FCL_EXPORT bool sphereSphereIntersect(const Sphere<double>& s1, const Transform3<double>& tf1,
+                            const Sphere<double>& s2, const Transform3<double>& tf2,
+                            std::vector<ContactPoint<double>>* contacts);
+ 
+ //==============================================================================
+ template
+-bool sphereSphereDistance(const Sphere<double>& s1, const Transform3<double>& tf1,
++FCL_EXPORT bool sphereSphereDistance(const Sphere<double>& s1, const Transform3<double>& tf1,
+                           const Sphere<double>& s2, const Transform3<double>& tf2,
+                           double* dist, Vector3<double>* p1, Vector3<double>* p2);
+ 
+diff --git a/src/narrowphase/detail/primitive_shape_algorithm/sphere_triangle.cpp b/src/narrowphase/detail/primitive_shape_algorithm/sphere_triangle.cpp
+index 29b6173..9b9066f 100755
+--- a/src/narrowphase/detail/primitive_shape_algorithm/sphere_triangle.cpp
++++ b/src/narrowphase/detail/primitive_shape_algorithm/sphere_triangle.cpp
+@@ -45,32 +45,32 @@ namespace detail
+ 
+ //==============================================================================
+ template
+-double segmentSqrDistance(const Vector3<double>& from, const Vector3<double>& to,const Vector3<double>& p, Vector3<double>& nearest);
++FCL_EXPORT double segmentSqrDistance(const Vector3<double>& from, const Vector3<double>& to,const Vector3<double>& p, Vector3<double>& nearest);
+ 
+ //==============================================================================
+ template
+-bool projectInTriangle(const Vector3<double>& p1, const Vector3<double>& p2, const Vector3<double>& p3, const Vector3<double>& normal, const Vector3<double>& p);
++FCL_EXPORT bool projectInTriangle(const Vector3<double>& p1, const Vector3<double>& p2, const Vector3<double>& p3, const Vector3<double>& normal, const Vector3<double>& p);
+ 
+ //==============================================================================
+ template
+-bool sphereTriangleIntersect(const Sphere<double>& s, const Transform3<double>& tf,
++FCL_EXPORT bool sphereTriangleIntersect(const Sphere<double>& s, const Transform3<double>& tf,
+                              const Vector3<double>& P1, const Vector3<double>& P2, const Vector3<double>& P3, Vector3<double>* contact_points, double* penetration_depth, Vector3<double>* normal_);
+ 
+ //==============================================================================
+ template
+-bool sphereTriangleDistance(const Sphere<double>& sp, const Transform3<double>& tf,
++FCL_EXPORT bool sphereTriangleDistance(const Sphere<double>& sp, const Transform3<double>& tf,
+                             const Vector3<double>& P1, const Vector3<double>& P2, const Vector3<double>& P3,
+                             double* dist);
+ 
+ //==============================================================================
+ template
+-bool sphereTriangleDistance(const Sphere<double>& sp, const Transform3<double>& tf,
++FCL_EXPORT bool sphereTriangleDistance(const Sphere<double>& sp, const Transform3<double>& tf,
+                             const Vector3<double>& P1, const Vector3<double>& P2, const Vector3<double>& P3,
+                             double* dist, Vector3<double>* p1, Vector3<double>* p2);
+ 
+ //==============================================================================
+ template
+-bool sphereTriangleDistance(const Sphere<double>& sp, const Transform3<double>& tf1,
++FCL_EXPORT bool sphereTriangleDistance(const Sphere<double>& sp, const Transform3<double>& tf1,
+                             const Vector3<double>& P1, const Vector3<double>& P2, const Vector3<double>& P3, const Transform3<double>& tf2,
+                             double* dist, Vector3<double>* p1, Vector3<double>* p2);
+ 
+diff --git a/src/narrowphase/detail/primitive_shape_algorithm/triangle_distance.cpp b/src/narrowphase/detail/primitive_shape_algorithm/triangle_distance.cpp
+index 2bb3a20..7535622 100644
+--- a/src/narrowphase/detail/primitive_shape_algorithm/triangle_distance.cpp
++++ b/src/narrowphase/detail/primitive_shape_algorithm/triangle_distance.cpp
+@@ -45,7 +45,7 @@ namespace detail
+ 
+ //==============================================================================
+ template
+-class TriangleDistance<double>;
++class FCL_EXPORT TriangleDistance<double>;
+ 
+ } // namespace detail
+ } // namespace fcl
+diff --git a/src/narrowphase/detail/traversal/collision/collision_traversal_node_base.cpp b/src/narrowphase/detail/traversal/collision/collision_traversal_node_base.cpp
+index 89783e3..5532361 100644
+--- a/src/narrowphase/detail/traversal/collision/collision_traversal_node_base.cpp
++++ b/src/narrowphase/detail/traversal/collision/collision_traversal_node_base.cpp
+@@ -44,7 +44,7 @@ namespace detail
+ {
+ 
+ template
+-class CollisionTraversalNodeBase<double>;
++class FCL_EXPORT CollisionTraversalNodeBase<double>;
+ 
+ } // namespace detail
+ } // namespace fcl
+diff --git a/src/narrowphase/detail/traversal/collision/mesh_collision_traversal_node.cpp b/src/narrowphase/detail/traversal/collision/mesh_collision_traversal_node.cpp
+index 46d34aa..7a3605f 100644
+--- a/src/narrowphase/detail/traversal/collision/mesh_collision_traversal_node.cpp
++++ b/src/narrowphase/detail/traversal/collision/mesh_collision_traversal_node.cpp
+@@ -45,11 +45,11 @@ namespace detail
+ 
+ //==============================================================================
+ template
+-class MeshCollisionTraversalNodeOBB<double>;
++class FCL_EXPORT MeshCollisionTraversalNodeOBB<double>;
+ 
+ //==============================================================================
+ template
+-bool initialize(
++FCL_EXPORT bool initialize(
+     MeshCollisionTraversalNodeOBB<double>& node,
+     const BVHModel<OBB<double>>& model1,
+     const Transform3<double>& tf1,
+@@ -60,11 +60,11 @@ bool initialize(
+ 
+ //==============================================================================
+ template
+-class MeshCollisionTraversalNodeRSS<double>;
++class FCL_EXPORT MeshCollisionTraversalNodeRSS<double>;
+ 
+ //==============================================================================
+ template
+-bool initialize(
++FCL_EXPORT bool initialize(
+     MeshCollisionTraversalNodeRSS<double>& node,
+     const BVHModel<RSS<double>>& model1,
+     const Transform3<double>& tf1,
+@@ -75,11 +75,11 @@ bool initialize(
+ 
+ //==============================================================================
+ template
+-class MeshCollisionTraversalNodekIOS<double>;
++class FCL_EXPORT MeshCollisionTraversalNodekIOS<double>;
+ 
+ //==============================================================================
+ template
+-bool initialize(
++FCL_EXPORT bool initialize(
+     MeshCollisionTraversalNodekIOS<double>& node,
+     const BVHModel<kIOS<double>>& model1,
+     const Transform3<double>& tf1,
+@@ -90,11 +90,11 @@ bool initialize(
+ 
+ //==============================================================================
+ template
+-class MeshCollisionTraversalNodeOBBRSS<double>;
++class FCL_EXPORT MeshCollisionTraversalNodeOBBRSS<double>;
+ 
+ //==============================================================================
+ template
+-bool initialize(
++FCL_EXPORT bool initialize(
+     MeshCollisionTraversalNodeOBBRSS<double>& node,
+     const BVHModel<OBBRSS<double>>& model1,
+     const Transform3<double>& tf1,
+diff --git a/src/narrowphase/detail/traversal/collision/mesh_continuous_collision_traversal_node.cpp b/src/narrowphase/detail/traversal/collision/mesh_continuous_collision_traversal_node.cpp
+index d34c701..1fff836 100644
+--- a/src/narrowphase/detail/traversal/collision/mesh_continuous_collision_traversal_node.cpp
++++ b/src/narrowphase/detail/traversal/collision/mesh_continuous_collision_traversal_node.cpp
+@@ -44,7 +44,7 @@ namespace detail
+ {
+ 
+ template
+-struct BVHContinuousCollisionPair<double>;
++struct FCL_EXPORT BVHContinuousCollisionPair<double>;
+ 
+ } // namespace detail
+ } // namespace fcl
+diff --git a/src/narrowphase/detail/traversal/collision_node.cpp b/src/narrowphase/detail/traversal/collision_node.cpp
+index 352cd40..5a756c9 100644
+--- a/src/narrowphase/detail/traversal/collision_node.cpp
++++ b/src/narrowphase/detail/traversal/collision_node.cpp
+@@ -45,23 +45,23 @@ namespace detail
+ 
+ //==============================================================================
+ template
+-void collide(CollisionTraversalNodeBase<double>* node, BVHFrontList* front_list);
++FCL_EXPORT void collide(CollisionTraversalNodeBase<double>* node, BVHFrontList* front_list);
+ 
+ //==============================================================================
+ template
+-void selfCollide(CollisionTraversalNodeBase<double>* node, BVHFrontList* front_list);
++FCL_EXPORT void selfCollide(CollisionTraversalNodeBase<double>* node, BVHFrontList* front_list);
+ 
+ //==============================================================================
+ template
+-void distance(DistanceTraversalNodeBase<double>* node, BVHFrontList* front_list, int qsize);
++FCL_EXPORT void distance(DistanceTraversalNodeBase<double>* node, BVHFrontList* front_list, int qsize);
+ 
+ //==============================================================================
+ template
+-void collide2(MeshCollisionTraversalNodeOBB<double>* node, BVHFrontList* front_list);
++FCL_EXPORT void collide2(MeshCollisionTraversalNodeOBB<double>* node, BVHFrontList* front_list);
+ 
+ //==============================================================================
+ template
+-void collide2(MeshCollisionTraversalNodeRSS<double>* node, BVHFrontList* front_list);
++FCL_EXPORT void collide2(MeshCollisionTraversalNodeRSS<double>* node, BVHFrontList* front_list);
+ 
+ } // namespace detail
+ } // namespace fcl
+diff --git a/src/narrowphase/detail/traversal/distance/conservative_advancement_stack_data.cpp b/src/narrowphase/detail/traversal/distance/conservative_advancement_stack_data.cpp
+index b2501b6..12f1a22 100644
+--- a/src/narrowphase/detail/traversal/distance/conservative_advancement_stack_data.cpp
++++ b/src/narrowphase/detail/traversal/distance/conservative_advancement_stack_data.cpp
+@@ -44,7 +44,7 @@ namespace detail
+ {
+ 
+ template
+-struct ConservativeAdvancementStackData<double>;
++struct FCL_EXPORT ConservativeAdvancementStackData<double>;
+ 
+ } // namespace detail
+ } // namespace fcl
+diff --git a/src/narrowphase/detail/traversal/distance/distance_traversal_node_base.cpp b/src/narrowphase/detail/traversal/distance/distance_traversal_node_base.cpp
+index b6cca49..66e9e05 100644
+--- a/src/narrowphase/detail/traversal/distance/distance_traversal_node_base.cpp
++++ b/src/narrowphase/detail/traversal/distance/distance_traversal_node_base.cpp
+@@ -44,7 +44,7 @@ namespace detail
+ {
+ 
+ template
+-class DistanceTraversalNodeBase<double>;
++class FCL_EXPORT DistanceTraversalNodeBase<double>;
+ 
+ } // namespace detail
+ } // namespace fcl
+diff --git a/src/narrowphase/detail/traversal/distance/mesh_conservative_advancement_traversal_node.cpp b/src/narrowphase/detail/traversal/distance/mesh_conservative_advancement_traversal_node.cpp
+index ed7d8cc..0a81f78 100644
+--- a/src/narrowphase/detail/traversal/distance/mesh_conservative_advancement_traversal_node.cpp
++++ b/src/narrowphase/detail/traversal/distance/mesh_conservative_advancement_traversal_node.cpp
+@@ -45,11 +45,11 @@ namespace detail
+ 
+ //==============================================================================
+ template
+-class MeshConservativeAdvancementTraversalNodeRSS<double>;
++class FCL_EXPORT MeshConservativeAdvancementTraversalNodeRSS<double>;
+ 
+ //==============================================================================
+ template
+-bool initialize(
++FCL_EXPORT bool initialize(
+     MeshConservativeAdvancementTraversalNodeRSS<double>& node,
+     const BVHModel<RSS<double>>& model1,
+     const Transform3<double>& tf1,
+@@ -59,11 +59,11 @@ bool initialize(
+ 
+ //==============================================================================
+ template
+-class MeshConservativeAdvancementTraversalNodeOBBRSS<double>;
++FCL_EXPORT class MeshConservativeAdvancementTraversalNodeOBBRSS<double>;
+ 
+ //==============================================================================
+ template
+-bool initialize(
++FCL_EXPORT bool initialize(
+     MeshConservativeAdvancementTraversalNodeOBBRSS<double>& node,
+     const BVHModel<OBBRSS<double>>& model1,
+     const Transform3<double>& tf1,
+diff --git a/src/narrowphase/detail/traversal/distance/mesh_distance_traversal_node.cpp b/src/narrowphase/detail/traversal/distance/mesh_distance_traversal_node.cpp
+index 7d862c1..36110c3 100644
+--- a/src/narrowphase/detail/traversal/distance/mesh_distance_traversal_node.cpp
++++ b/src/narrowphase/detail/traversal/distance/mesh_distance_traversal_node.cpp
+@@ -45,11 +45,11 @@ namespace detail
+ 
+ //==============================================================================
+ template
+-class MeshDistanceTraversalNodeRSS<double>;
++class FCL_EXPORT MeshDistanceTraversalNodeRSS<double>;
+ 
+ //==============================================================================
+ template
+-bool initialize(
++FCL_EXPORT bool initialize(
+     MeshDistanceTraversalNodeRSS<double>& node,
+     const BVHModel<RSS<double>>& model1,
+     const Transform3<double>& tf1,
+@@ -60,11 +60,11 @@ bool initialize(
+ 
+ //==============================================================================
+ template
+-class MeshDistanceTraversalNodekIOS<double>;
++class FCL_EXPORT MeshDistanceTraversalNodekIOS<double>;
+ 
+ //==============================================================================
+ template
+-bool initialize(
++FCL_EXPORT bool initialize(
+     MeshDistanceTraversalNodekIOS<double>& node,
+     const BVHModel<kIOS<double>>& model1,
+     const Transform3<double>& tf1,
+@@ -75,11 +75,11 @@ bool initialize(
+ 
+ //==============================================================================
+ template
+-class MeshDistanceTraversalNodeOBBRSS<double>;
++class FCL_EXPORT MeshDistanceTraversalNodeOBBRSS<double>;
+ 
+ //==============================================================================
+ template
+-bool initialize(
++FCL_EXPORT bool initialize(
+     MeshDistanceTraversalNodeOBBRSS<double>& node,
+     const BVHModel<OBBRSS<double>>& model1,
+     const Transform3<double>& tf1,
+diff --git a/src/narrowphase/detail/traversal/traversal_node_base.cpp b/src/narrowphase/detail/traversal/traversal_node_base.cpp
+index 4a11aaf..207722e 100644
+--- a/src/narrowphase/detail/traversal/traversal_node_base.cpp
++++ b/src/narrowphase/detail/traversal/traversal_node_base.cpp
+@@ -44,7 +44,7 @@ namespace detail
+ {
+ 
+ template
+-class TraversalNodeBase<double>;
++class FCL_EXPORT TraversalNodeBase<double>;
+ 
+ } // namespace detail
+ } // namespace fcl
+diff --git a/src/narrowphase/detail/traversal/traversal_recurse.cpp b/src/narrowphase/detail/traversal/traversal_recurse.cpp
+index a382a32..7660466 100644
+--- a/src/narrowphase/detail/traversal/traversal_recurse.cpp
++++ b/src/narrowphase/detail/traversal/traversal_recurse.cpp
+@@ -45,31 +45,31 @@ namespace detail
+ 
+ //==============================================================================
+ template
+-void collisionRecurse(CollisionTraversalNodeBase<double>* node, int b1, int b2, BVHFrontList* front_list);
++FCL_EXPORT void collisionRecurse(CollisionTraversalNodeBase<double>* node, int b1, int b2, BVHFrontList* front_list);
+ 
+ //==============================================================================
+ template
+-void collisionRecurse(MeshCollisionTraversalNodeOBB<double>* node, int b1, int b2, const Matrix3<double>& R, const Vector3<double>& T, BVHFrontList* front_list);
++FCL_EXPORT void collisionRecurse(MeshCollisionTraversalNodeOBB<double>* node, int b1, int b2, const Matrix3<double>& R, const Vector3<double>& T, BVHFrontList* front_list);
+ 
+ //==============================================================================
+ template
+-void collisionRecurse(MeshCollisionTraversalNodeRSS<double>* node, int b1, int b2, const Matrix3<double>& R, const Vector3<double>& T, BVHFrontList* front_list);
++FCL_EXPORT void collisionRecurse(MeshCollisionTraversalNodeRSS<double>* node, int b1, int b2, const Matrix3<double>& R, const Vector3<double>& T, BVHFrontList* front_list);
+ 
+ //==============================================================================
+ template
+-void selfCollisionRecurse(CollisionTraversalNodeBase<double>* node, int b, BVHFrontList* front_list);
++FCL_EXPORT void selfCollisionRecurse(CollisionTraversalNodeBase<double>* node, int b, BVHFrontList* front_list);
+ 
+ //==============================================================================
+ template
+-void distanceRecurse(DistanceTraversalNodeBase<double>* node, int b1, int b2, BVHFrontList* front_list);
++FCL_EXPORT void distanceRecurse(DistanceTraversalNodeBase<double>* node, int b1, int b2, BVHFrontList* front_list);
+ 
+ //==============================================================================
+ template
+-void distanceQueueRecurse(DistanceTraversalNodeBase<double>* node, int b1, int b2, BVHFrontList* front_list, int qsize);
++FCL_EXPORT void distanceQueueRecurse(DistanceTraversalNodeBase<double>* node, int b1, int b2, BVHFrontList* front_list, int qsize);
+ 
+ //==============================================================================
+ template
+-void propagateBVHFrontListCollisionRecurse(CollisionTraversalNodeBase<double>* node, BVHFrontList* front_list);
++FCL_EXPORT void propagateBVHFrontListCollisionRecurse(CollisionTraversalNodeBase<double>* node, BVHFrontList* front_list);
+ 
+ } // namespace detail
+ } // namespace fcl
+diff --git a/src/narrowphase/distance.cpp b/src/narrowphase/distance.cpp
+index 5ef7dc6..9fe440f 100644
+--- a/src/narrowphase/distance.cpp
++++ b/src/narrowphase/distance.cpp
+@@ -42,7 +42,7 @@ namespace fcl
+ 
+ //==============================================================================
+ template
+-double distance(
++FCL_EXPORT double distance(
+     const CollisionObject<double>* o1,
+     const CollisionObject<double>* o2,
+     const DistanceRequest<double>& request,
+@@ -50,7 +50,7 @@ double distance(
+ 
+ //==============================================================================
+ template
+-double distance(
++FCL_EXPORT double distance(
+     const CollisionGeometry<double>* o1, const Transform3<double>& tf1,
+     const CollisionGeometry<double>* o2, const Transform3<double>& tf2,
+     const DistanceRequest<double>& request, DistanceResult<double>& result);
+diff --git a/src/narrowphase/distance_request.cpp b/src/narrowphase/distance_request.cpp
+index e694013..f9c631a 100644
+--- a/src/narrowphase/distance_request.cpp
++++ b/src/narrowphase/distance_request.cpp
+@@ -41,6 +41,6 @@ namespace fcl
+ {
+ 
+ template
+-struct DistanceRequest<double>;
++struct FCL_EXPORT DistanceRequest<double>;
+ 
+ } // namespace fcl
+diff --git a/src/narrowphase/distance_result.cpp b/src/narrowphase/distance_result.cpp
+index 1fefd21..48307f1 100644
+--- a/src/narrowphase/distance_result.cpp
++++ b/src/narrowphase/distance_result.cpp
+@@ -41,6 +41,6 @@ namespace fcl
+ {
+ 
+ template
+-struct DistanceResult<double>;
++struct FCL_EXPORT DistanceResult<double>;
+ 
+ } // namespace fcl
+diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
+index 50e1c1c..87e37ba 100644
+--- a/test/CMakeLists.txt
++++ b/test/CMakeLists.txt
+@@ -32,8 +32,11 @@ execute_process(COMMAND cmake -E remove_directory ${CMAKE_BINARY_DIR}/test_resul
+ execute_process(COMMAND cmake -E make_directory ${CMAKE_BINARY_DIR}/test_results)
+ include_directories(${GTEST_INCLUDE_DIRS})
+ 
+-add_library(test_fcl_utility test_fcl_utility.cpp)
++add_library(test_fcl_utility STATIC test_fcl_utility.cpp)
+ target_link_libraries(test_fcl_utility fcl)
++set_target_properties(test_fcl_utility PROPERTIES
++  RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bin"
++)
+ 
+ # test file list
+ set(tests
+@@ -76,7 +79,10 @@ macro(add_fcl_test test_file_name)
+   get_filename_component(test_name ${ARGV} NAME_WE)
+   add_executable(${test_name} ${ARGV})
+   target_link_libraries(${test_name} fcl test_fcl_utility gtest)
+-  add_test(${test_name} ${EXECUTABLE_OUTPUT_PATH}/${test_name})
++  add_test(NAME ${test_name} COMMAND $<TARGET_FILE:${test_name}>)
++  set_target_properties(${test_name} PROPERTIES
++    RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bin"
++  )
+ endmacro(add_fcl_test)
+ 
+ # configure location of resources
diff --git a/recipe/meta.yaml b/recipe/meta.yaml
index 47a5c2e..af04691 100644
--- a/recipe/meta.yaml
+++ b/recipe/meta.yaml
@@ -11,6 +11,7 @@ source:
   sha256: {{ sha256 }}
   patches:
     - 553.patch
+    - enable-shared-libs.patch  # [win]
 
 build:
   number: 7
@@ -41,7 +42,7 @@ test:
     - if not exist %PREFIX%\\Library\\include\\fcl\\geometry\\shape\\cylinder.h exit 1  # [win]
     - if not exist %PREFIX%\\Library\\lib\\pkgconfig\\fcl.pc exit 1  # [win]
     - if not exist %PREFIX%\\Library\\CMake\\fcl-config.cmake exit 1  # [win]
-    - if not exist %PREFIX%\\Library\\lib\\fcl.lib exit 1  # [win]
+    - if not exist %PREFIX%\\Library\\bin\\fcl.dll exit 1  # [win]
 
 about:
   home: https://github.com/flexible-collision-library/fcl

From a2642c6b3ff393d847038733b98cc5e70084ebf5 Mon Sep 17 00:00:00 2001
From: "conda-forge-webservices[bot]"
 <91080706+conda-forge-webservices[bot]@users.noreply.github.com>
Date: Sat, 4 Jan 2025 00:32:28 +0000
Subject: [PATCH 4/4] MNT: Re-rendered with conda-build 24.11.2, conda-smithy
 3.45.1, and conda-forge-pinning 2025.01.03.14.12.46

---
 .azure-pipelines/azure-pipelines-linux.yml | 6 +++---
 .azure-pipelines/azure-pipelines-win.yml   | 1 +
 .ci_support/linux_64_.yaml                 | 2 +-
 .ci_support/linux_aarch64_.yaml            | 6 +-----
 .ci_support/linux_ppc64le_.yaml            | 2 +-
 .scripts/run_osx_build.sh                  | 5 +++--
 .scripts/run_win_build.bat                 | 5 +++--
 build-locally.py                           | 7 +++++++
 8 files changed, 20 insertions(+), 14 deletions(-)

diff --git a/.azure-pipelines/azure-pipelines-linux.yml b/.azure-pipelines/azure-pipelines-linux.yml
index aef462c..b1513b8 100755
--- a/.azure-pipelines/azure-pipelines-linux.yml
+++ b/.azure-pipelines/azure-pipelines-linux.yml
@@ -11,15 +11,15 @@ jobs:
       linux_64_:
         CONFIG: linux_64_
         UPLOAD_PACKAGES: 'True'
-        DOCKER_IMAGE: quay.io/condaforge/linux-anvil-cos7-x86_64
+        DOCKER_IMAGE: quay.io/condaforge/linux-anvil-x86_64:alma9
       linux_aarch64_:
         CONFIG: linux_aarch64_
         UPLOAD_PACKAGES: 'True'
-        DOCKER_IMAGE: quay.io/condaforge/linux-anvil-cos7-x86_64
+        DOCKER_IMAGE: quay.io/condaforge/linux-anvil-x86_64:alma9
       linux_ppc64le_:
         CONFIG: linux_ppc64le_
         UPLOAD_PACKAGES: 'True'
-        DOCKER_IMAGE: quay.io/condaforge/linux-anvil-cos7-x86_64
+        DOCKER_IMAGE: quay.io/condaforge/linux-anvil-x86_64:alma9
   timeoutInMinutes: 360
   variables: {}
 
diff --git a/.azure-pipelines/azure-pipelines-win.yml b/.azure-pipelines/azure-pipelines-win.yml
index 9901917..13022dd 100755
--- a/.azure-pipelines/azure-pipelines-win.yml
+++ b/.azure-pipelines/azure-pipelines-win.yml
@@ -24,6 +24,7 @@ jobs:
       displayName: Run Windows build
       env:
         MINIFORGE_HOME: $(MINIFORGE_HOME)
+        CONDA_BLD_PATH: $(CONDA_BLD_PATH)
         PYTHONUNBUFFERED: 1
         CONFIG: $(CONFIG)
         CI: azure
diff --git a/.ci_support/linux_64_.yaml b/.ci_support/linux_64_.yaml
index 678f86c..76ec336 100644
--- a/.ci_support/linux_64_.yaml
+++ b/.ci_support/linux_64_.yaml
@@ -17,7 +17,7 @@ cxx_compiler:
 cxx_compiler_version:
 - '13'
 docker_image:
-- quay.io/condaforge/linux-anvil-cos7-x86_64
+- quay.io/condaforge/linux-anvil-x86_64:alma9
 flann:
 - 1.9.2
 target_platform:
diff --git a/.ci_support/linux_aarch64_.yaml b/.ci_support/linux_aarch64_.yaml
index b81a8c2..eae418d 100644
--- a/.ci_support/linux_aarch64_.yaml
+++ b/.ci_support/linux_aarch64_.yaml
@@ -1,5 +1,3 @@
-BUILD:
-- aarch64-conda_cos7-linux-gnu
 c_compiler:
 - gcc
 c_compiler_version:
@@ -8,8 +6,6 @@ c_stdlib:
 - sysroot
 c_stdlib_version:
 - '2.17'
-cdt_arch:
-- aarch64
 cdt_name:
 - conda
 channel_sources:
@@ -21,7 +17,7 @@ cxx_compiler:
 cxx_compiler_version:
 - '13'
 docker_image:
-- quay.io/condaforge/linux-anvil-cos7-x86_64
+- quay.io/condaforge/linux-anvil-x86_64:alma9
 flann:
 - 1.9.2
 target_platform:
diff --git a/.ci_support/linux_ppc64le_.yaml b/.ci_support/linux_ppc64le_.yaml
index 774315c..77c0dae 100644
--- a/.ci_support/linux_ppc64le_.yaml
+++ b/.ci_support/linux_ppc64le_.yaml
@@ -17,7 +17,7 @@ cxx_compiler:
 cxx_compiler_version:
 - '13'
 docker_image:
-- quay.io/condaforge/linux-anvil-cos7-x86_64
+- quay.io/condaforge/linux-anvil-x86_64:alma9
 flann:
 - 1.9.2
 target_platform:
diff --git a/.scripts/run_osx_build.sh b/.scripts/run_osx_build.sh
index 0b36498..0e3c394 100755
--- a/.scripts/run_osx_build.sh
+++ b/.scripts/run_osx_build.sh
@@ -6,8 +6,9 @@ source .scripts/logging_utils.sh
 
 set -xe
 
-MINIFORGE_HOME=${MINIFORGE_HOME:-${HOME}/miniforge3}
-MINIFORGE_HOME=${MINIFORGE_HOME%/} # remove trailing slash
+MINIFORGE_HOME="${MINIFORGE_HOME:-${HOME}/miniforge3}"
+MINIFORGE_HOME="${MINIFORGE_HOME%/}" # remove trailing slash
+export CONDA_BLD_PATH="${CONDA_BLD_PATH:-${MINIFORGE_HOME}/conda-bld}"
 
 ( startgroup "Provisioning base env with micromamba" ) 2> /dev/null
 MICROMAMBA_VERSION="1.5.10-0"
diff --git a/.scripts/run_win_build.bat b/.scripts/run_win_build.bat
index 1f2ec52..283e143 100755
--- a/.scripts/run_win_build.bat
+++ b/.scripts/run_win_build.bat
@@ -34,8 +34,9 @@ call "%MICROMAMBA_EXE%" create --yes --root-prefix "%MAMBA_ROOT_PREFIX%" --prefi
     pip python=3.12 conda-build conda-forge-ci-setup=4 "conda-build>=24.1"
 if !errorlevel! neq 0 exit /b !errorlevel!
 echo Removing %MAMBA_ROOT_PREFIX%
-del /S /Q "%MAMBA_ROOT_PREFIX%"
-del /S /Q "%MICROMAMBA_TMPDIR%"
+del /S /Q "%MAMBA_ROOT_PREFIX%" >nul
+del /S /Q "%MICROMAMBA_TMPDIR%" >nul
+call :end_group
 
 call :start_group "Configuring conda"
 
diff --git a/build-locally.py b/build-locally.py
index 6788aea..c4a56c6 100755
--- a/build-locally.py
+++ b/build-locally.py
@@ -26,6 +26,13 @@ def setup_environment(ns):
             os.path.dirname(__file__), "miniforge3"
         )
 
+    # The default cache location might not be writable using docker on macOS.
+    if ns.config.startswith("linux") and platform.system() == "Darwin":
+        os.environ["CONDA_FORGE_DOCKER_RUN_ARGS"] = (
+            os.environ.get("CONDA_FORGE_DOCKER_RUN_ARGS", "")
+            + " -e RATTLER_CACHE_DIR=/tmp/rattler_cache"
+        )
+
 
 def run_docker_build(ns):
     script = ".scripts/run_docker_build.sh"