Merge pull request #154 from flexible-collision-library/templatize

Templatize FCL for scalar type

.appveyor.yml

@@ -7,10 +7,10 @@ os: Visual Studio 2015
 clone_folder: C:\projects\fcl
 shallow_clone: true
 
-# branches:
-#   only:
-#     - master
-platform: x64
+# build platform, i.e. Win32 (instead of x86), x64, Any CPU. This setting is optional.
+platform:
+  - Win32
+  - x64
 
 environment:
   CTEST_OUTPUT_ON_FAILURE: 1
@@ -23,11 +23,15 @@ configuration:
   - Release
 
 before_build:
+  - cmd: if "%platform%"=="Win32" set CMAKE_GENERATOR_NAME=Visual Studio 14 2015
+  - cmd: if "%platform%"=="x64"   set CMAKE_GENERATOR_NAME=Visual Studio 14 2015 Win64
+  - cmd: if "%platform%"=="Win32" set PROGRAM_FILES_PATH=Program Files (x86)
+  - cmd: if "%platform%"=="x64"   set PROGRAM_FILES_PATH=Program Files
   - cmd: if not exist C:\"Program Files"\libccd\lib\ccd.lib (
             curl -L -o libccd-2.0.tar.gz https://github.com/danfis/libccd/archive/v2.0.tar.gz &&
             cmake -E tar zxf libccd-2.0.tar.gz &&
             cd libccd-2.0 &&
-            cmake -G "Visual Studio 14 2015 Win64" -DCMAKE_BUILD_TYPE=%Configuration% . &&
+            cmake -G "%CMAKE_GENERATOR_NAME%" -DCMAKE_BUILD_TYPE=%Configuration% . &&
             cmake --build . --target install --config %Configuration% &&
             cd ..
          ) else (echo Using cached libccd)
@@ -37,19 +41,18 @@ before_build:
             cd eigen-eigen-dc6cfdf9bcec &&
             mkdir build &&
             cd build &&
-            cmake -G "Visual Studio 14 2015 Win64" -DCMAKE_BUILD_TYPE=%Configuration% .. &&
+            cmake -G "%CMAKE_GENERATOR_NAME%" -DCMAKE_BUILD_TYPE=%Configuration% .. &&
             cmake --build . --target install --config %Configuration% &&
             cd ..\..
          ) else (echo Using cached Eigen3)
   - cmd: set
   - cmd: mkdir build
   - cmd: cd build
-  - cmd: cmake -G "Visual Studio 14 2015 Win64" -DCMAKE_BUILD_TYPE=%Configuration% -DCCD_INCLUDE_DIRS="C:\Program Files\libccd\include" -DCCD_LIBRARY="C:\Program Files\libccd\lib\ccd.lib" -DEIGEN3_INCLUDE_DIR="C:\Program Files\Eigen\include\eigen3" ..
+  - cmd: cmake -G "%CMAKE_GENERATOR_NAME%" -DCMAKE_BUILD_TYPE=%Configuration% -DCCD_INCLUDE_DIRS="C:\%PROGRAM_FILES_PATH%\libccd\include" -DCCD_LIBRARY="C:\%PROGRAM_FILES_PATH%\libccd\lib\ccd.lib" -DEIGEN3_INCLUDE_DIR="C:\%PROGRAM_FILES_PATH%\Eigen\include\eigen3" ..
 
 build:
   project: C:\projects\fcl\build\fcl.sln
   parallel: true
 
-# tests seem to hang
-# test_script:
-#  - cmd: ctest -C %Configuration%
+test_script:
+  - cmd: ctest -C %Configuration%

.travis.yml

@@ -22,11 +22,6 @@ matrix:
     - os: osx
       compiler: gcc
 
-addons:
-  apt:
-    packages:
-      - libboost-all-dev
-
 install:
   # Install dependencies for FCL
   - if [ "$TRAVIS_OS_NAME" = "linux" ]; then 'ci/install_linux.sh' ; fi
@@ -41,7 +36,7 @@ script:
   - cmake -DCMAKE_BUILD_TYPE=$BUILD_TYPE -DFCL_COVERALLS=$COVERALLS ..
 
   # Build
-  - make -j4
+  - make -j2
   - if [ $COVERALLS = ON ] && [ "$TRAVIS_OS_NAME" = "linux" ]; then make coveralls; fi
 
   # Run unit tests

CHANGELOG.md

@@ -2,8 +2,10 @@
 
 ### FCL 0.6.0 (2016-XX-XX)
 
-* Switched to Eigen for math operations: [#150](https://github.com/flexible-collision-library/fcl/pull/150), [#96](https://github.com/flexible-collision-library/fcl/issues/96)
 * Added missing copyright headers:  [#149](https://github.com/flexible-collision-library/fcl/pull/149)
+* Enabled build with SSE option by default: [#159](https://github.com/flexible-collision-library/fcl/pull/159)
+* Switched to Eigen for math operations: [#150](https://github.com/flexible-collision-library/fcl/pull/150), [#96](https://github.com/flexible-collision-library/fcl/issues/96)
+* Fixed redundant pair checking of SpatialHashingCollisionManager: [#156](https://github.com/flexible-collision-library/fcl/pull/156)
 * Removed dependency on boost: [#148](https://github.com/flexible-collision-library/fcl/pull/148), [#147](https://github.com/flexible-collision-library/fcl/pull/147), [#146](https://github.com/flexible-collision-library/fcl/pull/146), [#140](https://github.com/flexible-collision-library/fcl/pull/140)
 
 ### FCL 0.5.0 (2016-07-19)

CMakeLists.txt

@@ -9,24 +9,12 @@ endif()
 
 project(fcl CXX C)
 
+option(FCL_ENABLE_PROFILING "Enable profiling" OFF)
 option(FCL_TREAT_WARNINGS_AS_ERRORS "Treat warnings as errors" OFF)
 
 # set the default build type
-if (NOT CMAKE_BUILD_TYPE)
-   set(CMAKE_BUILD_TYPE Release)
-endif()
-
-# Set build type variable
-set(FCL_BUILD_TYPE_RELEASE FALSE)
-set(FCL_BUILD_TYPE_DEBUG FALSE)
-
-string(TOUPPER ${CMAKE_BUILD_TYPE} CMAKE_BUILD_TYPE_UPPERCASE)
-if("${CMAKE_BUILD_TYPE_UPPERCASE}" STREQUAL "RELEASE")
-  set(FCL_BUILD_TYPE_RELEASE TRUE)
-elseif("${CMAKE_BUILD_TYPE_UPPERCASE}" STREQUAL "DEBUG")
-  set(FCL_BUILD_TYPE_DEBUG TRUE)
-else()
-  message(STATUS "CMAKE_BUILD_TYPE ${CMAKE_BUILD_TYPE} unknown. Valid options are: Debug Release")
+if (NOT MSVC AND NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE Release)
 endif()
 
 # This shouldn't be necessary, but there has been trouble
@@ -48,14 +36,13 @@ else()
 endif()
 
 # Whether to enable SSE
-option(FCL_USE_SSE "Whether FCL should SSE instructions" OFF)
-set(FCL_HAVE_SSE 0)
+option(FCL_USE_SSE "Whether FCL should SSE instructions" ON)
 if(FCL_USE_SSE)
   if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
-    set(FCL_HAVE_SSE 0) #always disable, for now
     add_definitions(-march=native)
+  elseif(MSVC)
+    add_definitions(/arch:SSE2)
   endif()
-  # TODO: do something similar for other compilers
 endif()
 
 # Coveralls support

CMakeModules/CompilerSettings.cmake

@@ -1,6 +1,6 @@
 # GCC
 if(CMAKE_COMPILER_IS_GNUCXX)
-    add_definitions(-std=c++11 -W -Wall -g -Wextra -Wno-missing-field-initializers -Wno-unused-parameter)
+    add_definitions(-std=c++11 -W -Wall -g -Wextra -Wpedantic -Wno-missing-field-initializers -Wno-unused-parameter)
     if(FCL_TREAT_WARNINGS_AS_ERRORS)
         add_definitions(-Werror)
     endif(FCL_TREAT_WARNINGS_AS_ERRORS)
@@ -16,7 +16,7 @@ endif()
 
 # Visual Studio
 if(MSVC OR MSVC90 OR MSVC10)
-    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /EHsc /MP /W1")
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /EHsc /MP /W1 /bigobj")
     if(FCL_TREAT_WARNINGS_AS_ERRORS)
         add_definitions(/WX)
     endif(FCL_TREAT_WARNINGS_AS_ERRORS)

ci/install_osx.sh

@@ -6,3 +6,13 @@ brew install git
 brew install cmake
 brew install eigen
 brew install libccd
+
+# Octomap
+git clone https://github.com/OctoMap/octomap
+cd octomap
+git checkout tags/v1.8.0
+mkdir build
+cd build
+cmake ..
+make
+sudo make install