Merge pull request #517 from jamiesnape/upstream-debian-patches

Upstream patches applied during Debian packaging of 0.6.1

Author: sherm1

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

@@ -42,6 +42,8 @@
 
 #include "fcl/common/unused.h"
 
+#include <algorithm>
+
 namespace fcl
 {
 
@@ -109,7 +111,7 @@ void HierarchyTree<BV>::init_0(NodeType* leaves, int n_leaves_)
   n_leaves = n_leaves_;
   root_node = NULL_NODE;
   nodes = new NodeType[n_leaves * 2];
-  memcpy(nodes, leaves, sizeof(NodeType) * n_leaves);
+  std::copy(leaves, leaves + n_leaves, nodes);
   freelist = n_leaves;
   n_nodes = n_leaves;
   n_nodes_alloc = 2 * n_leaves;
@@ -137,7 +139,7 @@ void HierarchyTree<BV>::init_1(NodeType* leaves, int n_leaves_)
   n_leaves = n_leaves_;
   root_node = NULL_NODE;
   nodes = new NodeType[n_leaves * 2];
-  memcpy(nodes, leaves, sizeof(NodeType) * n_leaves);
+  std::copy(leaves, leaves + n_leaves, nodes);
   freelist = n_leaves;
   n_nodes = n_leaves;
   n_nodes_alloc = 2 * n_leaves;
@@ -181,7 +183,7 @@ void HierarchyTree<BV>::init_2(NodeType* leaves, int n_leaves_)
   n_leaves = n_leaves_;
   root_node = NULL_NODE;
   nodes = new NodeType[n_leaves * 2];
-  memcpy(nodes, leaves, sizeof(NodeType) * n_leaves);
+  std::copy(leaves, leaves + n_leaves, nodes);
   freelist = n_leaves;
   n_nodes = n_leaves;
   n_nodes_alloc = 2 * n_leaves;
@@ -225,7 +227,7 @@ void HierarchyTree<BV>::init_3(NodeType* leaves, int n_leaves_)
   n_leaves = n_leaves_;
   root_node = NULL_NODE;
   nodes = new NodeType[n_leaves * 2];
-  memcpy(nodes, leaves, sizeof(NodeType) * n_leaves);
+  std::copy(leaves, leaves + n_leaves, nodes);
   freelist = n_leaves;
   n_nodes = n_leaves;
   n_nodes_alloc = 2 * n_leaves;
@@ -385,7 +387,7 @@ void HierarchyTree<BV>::balanceBottomup()
     NodeType* leaves_ = leaves;
     extractLeaves(root_node, leaves_);
     root_node = NULL_NODE;
-    memcpy(nodes, leaves, sizeof(NodeType) * n_leaves);
+    std::copy(leaves, leaves + n_leaves, nodes);
     freelist = n_leaves;
     n_nodes = n_leaves;
     for(size_t i = n_leaves; i < n_nodes_alloc; ++i)
@@ -414,7 +416,7 @@ void HierarchyTree<BV>::balanceTopdown()
     NodeType* leaves_ = leaves;
     extractLeaves(root_node, leaves_);
     root_node = NULL_NODE;
-    memcpy(nodes, leaves, sizeof(NodeType) * n_leaves);
+    std::copy(leaves, leaves + n_leaves, nodes);
     freelist = n_leaves;
     n_nodes = n_leaves;
     for(size_t i = n_leaves; i < n_nodes_alloc; ++i)
@@ -946,7 +948,7 @@ size_t HierarchyTree<BV>::allocateNode()
     NodeType* old_nodes = nodes;
     n_nodes_alloc *= 2;
     nodes = new NodeType[n_nodes_alloc];
-    memcpy(nodes, old_nodes, n_nodes * sizeof(NodeType));
+    std::copy(old_nodes, old_nodes + n_nodes, nodes);
     delete [] old_nodes;
 
     for(size_t i = n_nodes; i < n_nodes_alloc - 1; ++i)

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

@@ -531,7 +531,7 @@ std::deque<SimpleInterval<S>*> IntervalTree<S>::query(S low, S high)
         recursion_node_stack_size *= 2;
         recursion_node_stack = (it_recursion_node<S> *)realloc(recursion_node_stack, recursion_node_stack_size * sizeof(it_recursion_node<S>));
         if(recursion_node_stack == nullptr)
-          exit(1);
+          abort();
       }
       recursion_node_stack[recursion_node_stack_top].start_node = x;
       recursion_node_stack[recursion_node_stack_top].try_right_branch = false;

include/fcl/geometry/bvh/BVH_model-inl.h

@@ -40,6 +40,7 @@
 
 #include "fcl/geometry/bvh/BVH_model.h"
 #include <new>
+#include <algorithm>
 
 namespace fcl
 {
@@ -92,23 +93,23 @@ BVHModel<BV>::BVHModel(const BVHModel<BV>& other)
   if(other.vertices)
   {
     vertices = new Vector3<S>[num_vertices];
-    memcpy(vertices, other.vertices, sizeof(Vector3<S>) * num_vertices);
+    std::copy(other.vertices, other.vertices + num_vertices, vertices);
   }
   else
     vertices = nullptr;
 
   if(other.tri_indices)
   {
     tri_indices = new Triangle[num_tris];
-    memcpy(tri_indices, other.tri_indices, sizeof(Triangle) * num_tris);
+    std::copy(other.tri_indices, other.tri_indices + num_tris, tri_indices);
   }
   else
     tri_indices = nullptr;
 
   if(other.prev_vertices)
   {
     prev_vertices = new Vector3<S>[num_vertices];
-    memcpy(prev_vertices, other.prev_vertices, sizeof(Vector3<S>) * num_vertices);
+    std::copy(other.prev_vertices, other.prev_vertices + num_vertices, prev_vertices);
   }
   else
     prev_vertices = nullptr;
@@ -129,7 +130,7 @@ BVHModel<BV>::BVHModel(const BVHModel<BV>& other)
     }
 
     primitive_indices = new unsigned int[num_primitives];
-    memcpy(primitive_indices, other.primitive_indices, sizeof(unsigned int) * num_primitives);
+    std::copy(other.primitive_indices, other.primitive_indices + num_primitives, primitive_indices);
   }
   else
     primitive_indices = nullptr;
@@ -138,7 +139,7 @@ BVHModel<BV>::BVHModel(const BVHModel<BV>& other)
   if(other.bvs)
   {
     bvs = new BVNode<BV>[num_bvs];
-    memcpy(bvs, other.bvs, sizeof(BVNode<BV>) * num_bvs);
+    std::copy(other.bvs, other.bvs + num_bvs, bvs);
   }
   else
     bvs = nullptr;
@@ -270,7 +271,7 @@ int BVHModel<BV>::addVertex(const Vector3<S>& p)
       return BVH_ERR_MODEL_OUT_OF_MEMORY;
     }
 
-    memcpy(temp, vertices, sizeof(Vector3<S>) * num_vertices);
+    std::copy(vertices, vertices + num_vertices, temp);
     delete [] vertices;
     vertices = temp;
     num_vertices_allocated *= 2;
@@ -301,7 +302,7 @@ int BVHModel<BV>::addTriangle(const Vector3<S>& p1, const Vector3<S>& p2, const
       return BVH_ERR_MODEL_OUT_OF_MEMORY;
     }
 
-    memcpy(temp, vertices, sizeof(Vector3<S>) * num_vertices);
+    std::copy(vertices, vertices + num_vertices, temp);
     delete [] vertices;
     vertices = temp;
     num_vertices_allocated = num_vertices_allocated * 2 + 2;
@@ -329,7 +330,7 @@ int BVHModel<BV>::addTriangle(const Vector3<S>& p1, const Vector3<S>& p2, const
       return BVH_ERR_MODEL_OUT_OF_MEMORY;
     }
 
-    memcpy(temp, tri_indices, sizeof(Triangle) * num_tris);
+    std::copy(tri_indices, tri_indices + num_tris, temp);
     delete [] tri_indices;
     tri_indices = temp;
     num_tris_allocated *= 2;
@@ -362,7 +363,7 @@ int BVHModel<BV>::addSubModel(const std::vector<Vector3<S>>& ps)
       return BVH_ERR_MODEL_OUT_OF_MEMORY;
     }
 
-    memcpy(temp, vertices, sizeof(Vector3<S>) * num_vertices);
+    std::copy(vertices, vertices + num_vertices, temp);
     delete [] vertices;
     vertices = temp;
     num_vertices_allocated = num_vertices_allocated * 2 + num_vertices_to_add - 1;
@@ -398,7 +399,7 @@ int BVHModel<BV>::addSubModel(const std::vector<Vector3<S>>& ps, const std::vect
       return BVH_ERR_MODEL_OUT_OF_MEMORY;
     }
 
-    memcpy(temp, vertices, sizeof(Vector3<S>) * num_vertices);
+    std::copy(vertices, vertices + num_vertices, temp);
     delete [] vertices;
     vertices = temp;
     num_vertices_allocated = num_vertices_allocated * 2 + num_vertices_to_add - 1;
@@ -428,7 +429,7 @@ int BVHModel<BV>::addSubModel(const std::vector<Vector3<S>>& ps, const std::vect
       return BVH_ERR_MODEL_OUT_OF_MEMORY;
     }
 
-    memcpy(temp, tri_indices, sizeof(Triangle) * num_tris);
+    std::copy(tri_indices, tri_indices + num_tris, temp);
     delete [] tri_indices;
     tri_indices = temp;
     num_tris_allocated = num_tris_allocated * 2 + num_tris_to_add - 1;
@@ -468,7 +469,7 @@ int BVHModel<BV>::endModel()
       std::cerr << "BVH Error! Out of memory for tri_indices array in endModel() call!" << std::endl;
       return BVH_ERR_MODEL_OUT_OF_MEMORY;
     }
-    memcpy(new_tris, tri_indices, sizeof(Triangle) * num_tris);
+    std::copy(tri_indices, tri_indices + num_tris, new_tris);
     delete [] tri_indices;
     tri_indices = new_tris;
     num_tris_allocated = num_tris;
@@ -482,7 +483,7 @@ int BVHModel<BV>::endModel()
       std::cerr << "BVH Error! Out of memory for vertices array in endModel() call!" << std::endl;
       return BVH_ERR_MODEL_OUT_OF_MEMORY;
     }
-    memcpy(new_vertices, vertices, sizeof(Vector3<S>) * num_vertices);
+    std::copy(vertices, vertices + num_vertices, new_vertices);
     delete [] vertices;
     vertices = new_vertices;
     num_vertices_allocated = num_vertices;

include/fcl/narrowphase/detail/gjk_solver_indep.h

@@ -191,7 +191,7 @@ struct FCL_EXPORT GJKSolver_indep
         << "\n    epa max face num:    " << solver.epa_max_face_num
         << "\n    epa max vertex num:  " << solver.epa_max_vertex_num
         << "\n    epa max iterations:  " << solver.epa_max_iterations
-        << "\n    enable cahced guess: " << solver.enable_cached_guess;
+        << "\n    enable cached guess: " << solver.enable_cached_guess;
     if (solver.enable_cached_guess) out << solver.cached_guess.transpose();
     return out;
   }