Enable Win32 build on Appveyor

.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)
@@ -37,14 +41,14 @@ 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

include/fcl/BV/AABB.h

@@ -118,7 +118,7 @@ class AABB
  /// @brief Center of the AABB
  Vector3<S> center() const;
 
- /// @brief Distance between two AABBs; P and Q, should not be NULL, return the nearest points 
+ /// @brief Distance between two AABBs; P and Q, should not be nullptr, return the nearest points 
  S distance(
  const AABB<S>& other, Vector3<S>* P, Vector3<S>* Q) const;
 

include/fcl/BV/BV_node.h

@@ -86,12 +86,12 @@ struct BVNode : public BVNodeBase
  /// @brief Check whether two BVNode collide
  bool overlap(const BVNode& other) const;
 
- /// @brief Compute the distance between two BVNode. P1 and P2, if not NULL and
+ /// @brief Compute the distance between two BVNode. P1 and P2, if not nullptr and
  /// the underlying BV supports distance, return the nearest points.
  S distance(
  const BVNode& other,
- Vector3<S>* P1 = NULL,
- Vector3<S>* P2 = NULL) const;
+ Vector3<S>* P1 = nullptr,
+ Vector3<S>* P2 = nullptr) const;
 
  /// @brief Access the center of the BV
  Vector3<S> getCenter() const;

include/fcl/BV/OBB.h

@@ -112,8 +112,8 @@ class OBB
  const Vector3<S> center() const;
 
  /// @brief Distance between two OBBs, not implemented.
- S distance(const OBB& other, Vector3<S>* P = NULL,
- Vector3<S>* Q = NULL) const;
+ S distance(const OBB& other, Vector3<S>* P = nullptr,
+ Vector3<S>* Q = nullptr) const;
 
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
@@ -368,7 +368,7 @@ OBB<S> merge_largedist(const OBB<S>& b1, const OBB<S>& b2)
  vertex_proj[i].noalias() -= b.axis.col(0) * vertex[i].dot(b.axis.col(0));
  }
 
- getCovariance<S>(vertex_proj, NULL, NULL, NULL, 16, M);
+ getCovariance<S>(vertex_proj, nullptr, nullptr, nullptr, 16, M);
  eigen_old(M, s, E);
 
  int min, mid, max;
@@ -403,7 +403,7 @@ OBB<S> merge_largedist(const OBB<S>& b1, const OBB<S>& b2)
 
  // set obb centers and extensions
  getExtentAndCenter<S>(
- vertex, NULL, NULL, NULL, 16, b.axis, b.To, b.extent);
+ vertex, nullptr, nullptr, nullptr, 16, b.axis, b.To, b.extent);
 
  return b;
 }

include/fcl/BV/OBBRSS.h

@@ -95,9 +95,9 @@ class OBBRSS
  /// @brief Center of the OBBRSS
  const Vector3<S> center() const;
 
- /// @brief Distance between two OBBRSS; P and Q , is not NULL, returns the nearest points
+ /// @brief Distance between two OBBRSS; P and Q , is not nullptr, returns the nearest points
  S distance(const OBBRSS<S>& other,
- Vector3<S>* P = NULL, Vector3<S>* Q = NULL) const;
+ Vector3<S>* P = nullptr, Vector3<S>* Q = nullptr) const;
 
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
@@ -126,23 +126,23 @@ bool overlap(
  const OBBRSS<S>& b2);
 
 /// @brief Computate distance between two OBBRSS, b1 is in configuation (R0, T0)
-/// and b2 is in indentity; P and Q, is not NULL, returns the nearest points
+/// and b2 is in indentity; P and Q, is not nullptr, returns the nearest points
 template <typename S, typename DerivedA, typename DerivedB>
 S distance(
  const Eigen::MatrixBase<DerivedA>& R0,
  const Eigen::MatrixBase<DerivedB>& T0,
  const OBBRSS<S>& b1, const OBBRSS<S>& b2,
- Vector3<S>* P = NULL, Vector3<S>* Q = NULL);
+ Vector3<S>* P = nullptr, Vector3<S>* Q = nullptr);
 
 /// @brief Computate distance between two OBBRSS, b1 is in configuation (R0, T0)
-/// and b2 is in indentity; P and Q, is not NULL, returns the nearest points
+/// and b2 is in indentity; P and Q, is not nullptr, returns the nearest points
 template <typename S>
 S distance(
  const Transform3<S>& tf,
  const OBBRSS<S>& b1,
  const OBBRSS<S>& b2,
- Vector3<S>* P = NULL,
- Vector3<S>* Q = NULL);
+ Vector3<S>* P = nullptr,
+ Vector3<S>* Q = nullptr);
 
 //============================================================================//
 // //

include/fcl/BV/RSS.h

@@ -110,10 +110,10 @@ class RSS
  /// @brief The RSS center
  const Vector3<S> center() const;
 
- /// @brief the distance between two RSS; P and Q, if not NULL, return the nearest points
+ /// @brief the distance between two RSS; P and Q, if not nullptr, return the nearest points
  S distance(const RSS<S>& other,
- Vector3<S>* P = NULL,
- Vector3<S>* Q = NULL) const;
+ Vector3<S>* P = nullptr,
+ Vector3<S>* Q = nullptr) const;
 
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
@@ -161,8 +161,8 @@ S rectDistance(
  const Vector3<S>& Tab,
  const S a[2],
  const S b[2],
- Vector3<S>* P = NULL,
- Vector3<S>* Q = NULL);
+ Vector3<S>* P = nullptr,
+ Vector3<S>* Q = nullptr);
 
 /// @brief Distance between two oriented rectangles; P and Q (optional return
 /// values) are the closest points in the rectangles, both are in the local
@@ -172,8 +172,8 @@ S rectDistance(
  const Transform3<S>& tfab,
  const S a[2],
  const S b[2],
- Vector3<S>* P = NULL,
- Vector3<S>* Q = NULL);
+ Vector3<S>* P = nullptr,
+ Vector3<S>* Q = nullptr);
 
 /// @brief distance between two RSS bounding volumes
 /// P and Q (optional return values) are the closest points in the rectangles,
@@ -186,8 +186,8 @@ S distance(
  const Eigen::MatrixBase<DerivedB>& T0,
  const RSS<S>& b1,
  const RSS<S>& b2,
- Vector3<S>* P = NULL,
- Vector3<S>* Q = NULL);
+ Vector3<S>* P = nullptr,
+ Vector3<S>* Q = nullptr);
 
 /// @brief distance between two RSS bounding volumes
 /// P and Q (optional return values) are the closest points in the rectangles,
@@ -199,8 +199,8 @@ S distance(
  const Transform3<S>& tf,
  const RSS<S>& b1,
  const RSS<S>& b2,
- Vector3<S>* P = NULL,
- Vector3<S>* Q = NULL);
+ Vector3<S>* P = nullptr,
+ Vector3<S>* Q = nullptr);
 
 /// @brief Check collision between two RSSs, b1 is in configuration (R0, T0) and
 /// b2 is in identity.
@@ -488,7 +488,7 @@ RSS<S> RSS<S>::operator +(const RSS<S>& other) const
  Matrix3<S> E; // row first eigen-vectors
  Vector3<S> s(0, 0, 0);
 
- getCovariance<S>(v, NULL, NULL, NULL, 16, M);
+ getCovariance<S>(v, nullptr, nullptr, nullptr, 16, M);
  eigen_old(M, s, E);
 
  int min, mid, max;
@@ -504,7 +504,7 @@ RSS<S> RSS<S>::operator +(const RSS<S>& other) const
  bv.axis.col(2).noalias() = axis.col(0).cross(axis.col(1));
 
  // set rss origin, rectangle size and radius
- getRadiusAndOriginAndRectangleSize<S>(v, NULL, NULL, NULL, 16, bv.axis, bv.To, bv.l, bv.r);
+ getRadiusAndOriginAndRectangleSize<S>(v, nullptr, nullptr, nullptr, 16, bv.axis, bv.To, bv.l, bv.r);
 
  return bv;
 }

include/fcl/BV/detail/fitter.h

@@ -109,7 +109,7 @@ void fit3(Vector3<S>* ps, OBB<S>& bv)
  bv.axis.col(0).normalize();
  bv.axis.col(1).noalias() = bv.axis.col(2).cross(bv.axis.col(0));
 
- getExtentAndCenter<S>(ps, NULL, NULL, NULL, 3, bv.axis, bv.To, bv.extent);
+ getExtentAndCenter<S>(ps, nullptr, nullptr, nullptr, 3, bv.axis, bv.To, bv.extent);
 }
 
 template <typename S>
@@ -128,12 +128,12 @@ void fitn(Vector3<S>* ps, int n, OBB<S>& bv)
  Matrix3<S> E;
  Vector3<S> s = Vector3<S>::Zero(); // three eigen values
 
- getCovariance<S>(ps, NULL, NULL, NULL, n, M);
+ getCovariance<S>(ps, nullptr, nullptr, nullptr, n, M);
  eigen_old(M, s, E);
  axisFromEigen(E, s, bv.axis);
 
  // set obb centers and extensions
- getExtentAndCenter<S>(ps, NULL, NULL, NULL, n, bv.axis, bv.To, bv.extent);
+ getExtentAndCenter<S>(ps, nullptr, nullptr, nullptr, n, bv.axis, bv.To, bv.extent);
 }
 
 } // namespace OBB_fit_functions
@@ -192,7 +192,7 @@ void fit3(Vector3<S>* ps, RSS<S>& bv)
  bv.axis.col(0).noalias() = e[imax].normalized();
  bv.axis.col(1).noalias() = bv.axis.col(2).cross(bv.axis.col(0));
 
- getRadiusAndOriginAndRectangleSize<S>(ps, NULL, NULL, NULL, 3, bv.axis, bv.To, bv.l, bv.r);
+ getRadiusAndOriginAndRectangleSize<S>(ps, nullptr, nullptr, nullptr, 3, bv.axis, bv.To, bv.l, bv.r);
 }
 
 template <typename S>
@@ -211,12 +211,12 @@ void fitn(Vector3<S>* ps, int n, RSS<S>& bv)
  Matrix3<S> E; // row first eigen-vectors
  Vector3<S> s = Vector3<S>::Zero();
 
- getCovariance<S>(ps, NULL, NULL, NULL, n, M);
+ getCovariance<S>(ps, nullptr, nullptr, nullptr, n, M);
  eigen_old(M, s, E);
  axisFromEigen(E, s, bv.axis);
 
  // set rss origin, rectangle size and radius
- getRadiusAndOriginAndRectangleSize<S>(ps, NULL, NULL, NULL, n, bv.axis, bv.To, bv.l, bv.r);
+ getRadiusAndOriginAndRectangleSize<S>(ps, nullptr, nullptr, nullptr, n, bv.axis, bv.To, bv.l, bv.r);
 }
 
 } // namespace RSS_fit_functions
@@ -296,7 +296,7 @@ void fit3(Vector3<S>* ps, kIOS<S>& bv)
  bv.obb.axis.col(0) = e[imax].normalized();
  bv.obb.axis.col(1).noalias() = bv.obb.axis.col(2).cross(bv.obb.axis.col(0));
 
- getExtentAndCenter<S>(ps, NULL, NULL, NULL, 3, bv.obb.axis, bv.obb.To, bv.obb.extent);
+ getExtentAndCenter<S>(ps, nullptr, nullptr, nullptr, 3, bv.obb.axis, bv.obb.To, bv.obb.extent);
 
  // compute radius and center
  S r0;
@@ -322,16 +322,16 @@ void fitn(Vector3<S>* ps, int n, kIOS<S>& bv)
  Matrix3<S> E;
  Vector3<S> s = Vector3<S>::Zero(); // three eigen values;
 
- getCovariance<S>(ps, NULL, NULL, NULL, n, M);
+ getCovariance<S>(ps, nullptr, nullptr, nullptr, n, M);
  eigen_old(M, s, E);
  axisFromEigen(E, s, bv.obb.axis);
 
- getExtentAndCenter<S>(ps, NULL, NULL, NULL, n, bv.obb.axis, bv.obb.To, bv.obb.extent);
+ getExtentAndCenter<S>(ps, nullptr, nullptr, nullptr, n, bv.obb.axis, bv.obb.To, bv.obb.extent);
 
  // get center and extension
  const Vector3<S>& center = bv.obb.To;
  const Vector3<S>& extent = bv.obb.extent;
- S r0 = maximumDistance<S>(ps, NULL, NULL, NULL, n, center);
+ S r0 = maximumDistance<S>(ps, nullptr, nullptr, nullptr, n, center);
 
  // decide the k in kIOS<S>
  if(extent[0] > kIOS<S>::ratio() * extent[2])
@@ -353,8 +353,8 @@ void fitn(Vector3<S>* ps, int n, kIOS<S>& bv)
  bv.spheres[2].o = center + delta;
 
  S r11 = 0, r12 = 0;
- r11 = maximumDistance<S>(ps, NULL, NULL, NULL, n, bv.spheres[1].o);
- r12 = maximumDistance<S>(ps, NULL, NULL, NULL, n, bv.spheres[2].o);
+ r11 = maximumDistance<S>(ps, nullptr, nullptr, nullptr, n, bv.spheres[1].o);
+ r12 = maximumDistance<S>(ps, nullptr, nullptr, nullptr, n, bv.spheres[2].o);
  bv.spheres[1].o.noalias() += bv.obb.axis.col(2) * (-r10 + r11);
  bv.spheres[2].o.noalias() += bv.obb.axis.col(2) * (r10 - r12);
 
@@ -370,8 +370,8 @@ void fitn(Vector3<S>* ps, int n, kIOS<S>& bv)
  bv.spheres[4].o = bv.spheres[0].o + delta;
 
  S r21 = 0, r22 = 0;
- r21 = maximumDistance<S>(ps, NULL, NULL, NULL, n, bv.spheres[3].o);
- r22 = maximumDistance<S>(ps, NULL, NULL, NULL, n, bv.spheres[4].o);
+ r21 = maximumDistance<S>(ps, nullptr, nullptr, nullptr, n, bv.spheres[3].o);
+ r22 = maximumDistance<S>(ps, nullptr, nullptr, nullptr, n, bv.spheres[4].o);
 
  bv.spheres[3].o.noalias() += bv.obb.axis.col(1) * (-r10 + r21);
  bv.spheres[4].o.noalias() += bv.obb.axis.col(1) * (r10 - r22);

include/fcl/BV/kDOP.h

@@ -132,7 +132,7 @@ class KDOP
  /// @brief The distance between two KDOP<S, N>. Not implemented.
  S distance(
  const KDOP<S, N>& other,
- Vector3<S>* P = NULL, Vector3<S>* Q = NULL) const;
+ Vector3<S>* P = nullptr, Vector3<S>* Q = nullptr) const;
 
 private:
  /// @brief Origin's distances to N KDOP planes

include/fcl/BV/kIOS.h

@@ -114,7 +114,7 @@ class kIOS
  /// @brief The distance between two kIOS
  S distance(
  const kIOS<S>& other,
- Vector3<S>* P = NULL, Vector3<S>* Q = NULL) const;
+ Vector3<S>* P = nullptr, Vector3<S>* Q = nullptr) const;
 
  static constexpr S ratio() { return 1.5; }
  static constexpr S invSinA() { return 2; }
@@ -155,8 +155,8 @@ S distance(
  const Eigen::MatrixBase<DerivedB>& T0,
  const kIOS<S>& b1,
  const kIOS<S>& b2,
- Vector3<S>* P = NULL,
- Vector3<S>* Q = NULL);
+ Vector3<S>* P = nullptr,
+ Vector3<S>* Q = nullptr);
 
 /// @brief Approximate distance between two kIOS bounding volumes
 /// @todo P and Q is not returned, need implementation
@@ -165,8 +165,8 @@ S distance(
  const Transform3<S>& tf,
  const kIOS<S>& b1,
  const kIOS<S>& b2,
- Vector3<S>* P = NULL,
- Vector3<S>* Q = NULL);
+ Vector3<S>* P = nullptr,
+ Vector3<S>* Q = nullptr);
 
 //============================================================================//
 // //