Move CI to more modern platforms

1. Advance linux to bionic
2. Advance mac to xcode 11.3; that correlates with macOS 10.14.6 which is a
   common contemporary of bionic.
3. Appveyor accesses eigen via gitlab (instead of bitbucket).
4. Clean up:
  - HierarchyTree::SortByMorton had "maybe" uninitialized values. Cleaned
    up initialization and instantiation (using RAII).

.appveyor.yml

@@ -38,9 +38,9 @@ before_build:
             cd ..\..
          ) else (echo Using cached libccd)
   - cmd: if not exist C:\"Program Files"\Eigen\include\eigen3\Eigen\Core (
-            curl -L -o eigen-eigen-dc6cfdf9bcec.tar.gz https://bitbucket.org/eigen/eigen/get/3.2.9.tar.gz &&
-            cmake -E tar zxf eigen-eigen-dc6cfdf9bcec.tar.gz &&
-            cd eigen-eigen-dc6cfdf9bcec &&
+            curl -LO https://gitlab.com/libeigen/eigen/-/archive/3.2.9/eigen-3.2.9.tar.gz &&
+            cmake -E tar zxf eigen-3.2.9.tar.gz &&
+            cd eigen-3.2.9 &&
             mkdir build &&
             cd build &&
             cmake -G "%CMAKE_GENERATOR_NAME%" -DCMAKE_BUILD_TYPE=%Configuration% .. &&

.travis.yml

@@ -1,5 +1,5 @@
 sudo: required
-dist: trusty
+dist: bionic
 cache:
   apt: true
 
@@ -20,11 +20,11 @@ matrix:
       compiler: clang
       env: BUILD_TYPE=Release COVERALLS=OFF
     - os: osx
-      osx_image: xcode9
+      osx_image: xcode11.3
       compiler: clang
       env: BUILD_TYPE=Debug COVERALLS=OFF
     - os: osx
-      osx_image: xcode9
+      osx_image: xcode11.3
       compiler: clang
       env: BUILD_TYPE=Release COVERALLS=OFF
 

include/fcl/broadphase/detail/hierarchy_tree_array-inl.h

@@ -161,10 +161,7 @@ void HierarchyTree<BV>::init_1(NodeType* leaves, int n_leaves_)
   for(size_t i = 0; i < n_leaves; ++i)
     ids[i] = i;
 
-  FCL_SUPPRESS_MAYBE_UNINITIALIZED_BEGIN
-  SortByMorton comp;
-  FCL_SUPPRESS_MAYBE_UNINITIALIZED_END
-  comp.nodes = nodes;
+  const SortByMorton comp{nodes};
   std::sort(ids, ids + n_leaves, comp);
   root_node = mortonRecurse_0(ids, ids + n_leaves, (1 << (coder.bits()-1)), coder.bits()-1);
   delete [] ids;
@@ -208,10 +205,7 @@ void HierarchyTree<BV>::init_2(NodeType* leaves, int n_leaves_)
   for(size_t i = 0; i < n_leaves; ++i)
     ids[i] = i;
 
-  FCL_SUPPRESS_MAYBE_UNINITIALIZED_BEGIN
-  SortByMorton comp;
-  FCL_SUPPRESS_MAYBE_UNINITIALIZED_END
-  comp.nodes = nodes;
+  const SortByMorton comp{nodes};
   std::sort(ids, ids + n_leaves, comp);
   root_node = mortonRecurse_1(ids, ids + n_leaves, (1 << (coder.bits()-1)), coder.bits()-1);
   delete [] ids;
@@ -255,10 +249,7 @@ void HierarchyTree<BV>::init_3(NodeType* leaves, int n_leaves_)
   for(size_t i = 0; i < n_leaves; ++i)
     ids[i] = i;
 
-  FCL_SUPPRESS_MAYBE_UNINITIALIZED_BEGIN
-  SortByMorton comp;
-  FCL_SUPPRESS_MAYBE_UNINITIALIZED_END
-  comp.nodes = nodes;
+  const SortByMorton comp{nodes};
   std::sort(ids, ids + n_leaves, comp);
   root_node = mortonRecurse_2(ids, ids + n_leaves);
   delete [] ids;
@@ -722,9 +713,7 @@ size_t HierarchyTree<BV>::mortonRecurse_0(size_t* lbeg, size_t* lend, const uint
   {
     if(bits > 0)
     {
-      SortByMorton comp;
-      comp.nodes = nodes;
-      comp.split = split;
+      const SortByMorton comp{nodes, split};
       size_t* lcenter = std::lower_bound(lbeg, lend, NULL_NODE, comp);
 
       if(lcenter == lbeg)
@@ -771,9 +760,7 @@ size_t HierarchyTree<BV>::mortonRecurse_1(size_t* lbeg, size_t* lend, const uint
   {
     if(bits > 0)
     {
-      SortByMorton comp;
-      comp.nodes = nodes;
-      comp.split = split;
+      const SortByMorton comp{nodes, split};
       size_t* lcenter = std::lower_bound(lbeg, lend, NULL_NODE, comp);
 
       if(lcenter == lbeg)

include/fcl/broadphase/detail/hierarchy_tree_array.h

@@ -65,6 +65,9 @@ class FCL_EXPORT HierarchyTree
 
   struct SortByMorton
   {
+    SortByMorton(NodeType* nodes_in) : nodes(nodes_in) {}
+    SortByMorton(NodeType* nodes_in, uint32 split_in)
+        : nodes(nodes_in), split(split_in) {}
     bool operator() (size_t a, size_t b) const
     {
       if((a != NULL_NODE) && (b != NULL_NODE))
@@ -77,8 +80,8 @@ class FCL_EXPORT HierarchyTree
       return false;
     }
 
-    NodeType* nodes;
-    uint32 split;
+    NodeType* nodes{};
+    uint32 split{};
   };
 
 public:

include/fcl/common/warning.h

@@ -68,13 +68,6 @@
   #define FCL_SUPPRESS_UNINITIALIZED_END \
     _Pragma("GCC diagnostic pop")
 
-  #define FCL_SUPPRESS_MAYBE_UNINITIALIZED_BEGIN                           \
-    _Pragma("GCC diagnostic push")                                   \
-    _Pragma("GCC diagnostic ignored \"-Wmaybe-uninitialized\"")
-
-  #define FCL_SUPPRESS_MAYBE_UNINITIALIZED_END \
-    _Pragma("GCC diagnostic pop")
-
 #elif defined (FCL_COMPILER_CLANG)
 
   #define FCL_SUPPRESS_DEPRECATED_BEGIN                               \
@@ -91,10 +84,6 @@
   #define FCL_SUPPRESS_UNINITIALIZED_END \
     _Pragma("clang diagnostic pop")
 
-  #define FCL_SUPPRESS_MAYBE_UNINITIALIZED_BEGIN
-
-  #define FCL_SUPPRESS_MAYBE_UNINITIALIZED_END
-
 #elif defined (FCL_COMPILER_MSVC)
 
   #define FCL_SUPPRESS_DEPRECATED_BEGIN \
@@ -108,10 +97,6 @@
 
   #define FCL_SUPPRESS_UNINITIALIZED_END  // TODO
 
-  #define FCL_SUPPRESS_MAYBE_UNINITIALIZED_BEGIN  // TODO
-
-  #define FCL_SUPPRESS_MAYBE_UNINITIALIZED_END  // TODO
-
 #endif
 
 #endif // FCL_COMMON_WARNING_H