@@ -71,7 +71,7 @@ enum SupportOptions {
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// / `WithSweptSphere`, the support functions take into account the shapes' swept
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// / sphere radii. Please see `MinkowskiDiff::set(const ShapeBase*, const
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// / ShapeBase*)` for more details.
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- template <int SupportOptions>
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+ template <int _SupportOptions = SupportOptions::NoSweptSphere >
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Vec3f getSupport (const ShapeBase* shape, const Vec3f& dir, int & hint);
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// / @brief Minkowski difference class of two shapes
@@ -143,7 +143,7 @@ struct HPP_FCL_DLLAPI MinkowskiDiff {
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// / involved in the collision, and not relying on GJK/EPA, the
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// / `SupportOptions` template parameter should be set to `WithSweptSphere`.
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// / This is for example the case for specialized collision/distance functions.
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- template <int SupportOptions>
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+ template <int _SupportOptions = SupportOptions::NoSweptSphere >
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void set (const ShapeBase* shape0, const ShapeBase* shape1);
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// / @brief Set the two shapes, with a relative transformation.
@@ -153,7 +153,7 @@ struct HPP_FCL_DLLAPI MinkowskiDiff {
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// / @param tf1 the transformation of the second shape.
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// / @tparam `SupportOptions` see `set(const ShapeBase*, const
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// / ShapeBase*)` for more details.
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- template <int SupportOptions>
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+ template <int _SupportOptions = SupportOptions::NoSweptSphere >
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void set (const ShapeBase* shape0, const ShapeBase* shape1,
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const Transform3f& tf0, const Transform3f& tf1);
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@@ -164,9 +164,9 @@ struct HPP_FCL_DLLAPI MinkowskiDiff {
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// / object.
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// / @tparam `SupportOptions` see `set(const ShapeBase*, const
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// / ShapeBase*)` for more details.
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- template <int SupportOptions>
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+ template <int _SupportOptions = SupportOptions::NoSweptSphere >
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inline Vec3f support0 (const Vec3f& dir, int & hint) const {
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- return getSupport<SupportOptions >(shapes[0 ], dir, hint);
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+ return getSupport<_SupportOptions >(shapes[0 ], dir, hint);
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}
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// / @brief support function for shape1.
@@ -176,10 +176,10 @@ struct HPP_FCL_DLLAPI MinkowskiDiff {
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// / object.
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// / @tparam `SupportOptions` see `set(const ShapeBase*, const
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// / ShapeBase*)` for more details.
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- template <int SupportOptions>
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+ template <int _SupportOptions = SupportOptions::NoSweptSphere >
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inline Vec3f support1 (const Vec3f& dir, int & hint) const {
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// clang-format off
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- return oR1 * getSupport<SupportOptions >(shapes[1 ], oR1.transpose () * dir, hint) + ot1;
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+ return oR1 * getSupport<_SupportOptions >(shapes[1 ], oR1.transpose () * dir, hint) + ot1;
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// clang-format on
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}
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