fwd.hh

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// Copyright (c) 2022-2024, Inria
// Author: Florent Lamiraux
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#ifndef COAL_FWD_HH
#define COAL_FWD_HH

#include <cassert>
#include <memory>
#include <sstream>
#include <stdexcept>

#include "coal/config.hh"
#include "coal/deprecated.hh"
#include "coal/warning.hh"

#if _WIN32
#define COAL_PRETTY_FUNCTION __FUNCSIG__
#else
#define COAL_PRETTY_FUNCTION __PRETTY_FUNCTION__
#endif

#define COAL_UNUSED_VARIABLE(var) (void)(var)

#ifdef NDEBUG
#define COAL_ONLY_USED_FOR_DEBUG(var) COAL_UNUSED_VARIABLE(var)
#else
#define COAL_ONLY_USED_FOR_DEBUG(var)
#endif

#define COAL_THROW_PRETTY(message, exception) \
 { \
 std::stringstream ss; \
 ss << "From file: " << __FILE__ << "\n"; \
 ss << "in function: " << COAL_PRETTY_FUNCTION << "\n"; \
 ss << "at line: " << __LINE__ << "\n"; \
 ss << "message: " << message << "\n"; \
 throw exception(ss.str()); \
 }

#ifdef COAL_TURN_ASSERT_INTO_EXCEPTION
#define COAL_ASSERT(check, message, exception) \
 do { \
 if (!(check)) { \
 COAL_THROW_PRETTY(message, exception); \
 } \
 } while (0)
#else
#define COAL_ASSERT(check, message, exception) \
 { \
 COAL_UNUSED_VARIABLE(exception(message)); \
 assert((check) && message); \
 }
#endif

#if (__cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600))
#define COAL_WITH_CXX11_SUPPORT
#endif

#if defined(__GNUC__) || defined(__clang__)
#define COAL_COMPILER_DIAGNOSTIC_PUSH _Pragma("GCC diagnostic push")
#define COAL_COMPILER_DIAGNOSTIC_POP _Pragma("GCC diagnostic pop")
#define COAL_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS \
 _Pragma("GCC diagnostic ignored \"-Wdeprecated-declarations\"")

// GCC version 4.6 and higher supports -Wmaybe-uninitialized
#if (defined(__GNUC__) && \
 ((__GNUC__ > 4) || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6)))
#define COAL_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED \
 _Pragma("GCC diagnostic ignored \"-Wmaybe-uninitialized\"")
// Use __has_warning with clang. Clang introduced it in 2024 (3.5+)
#elif (defined(__clang__) && defined(__has_warning) && \
 __has_warning("-Wmaybe-uninitialized"))
#define COAL_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED \
 _Pragma("clang diagnostic ignored \"-Wmaybe-uninitialized\"")
#else
#define COAL_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
#endif
#elif defined(WIN32)
#define COAL_COMPILER_DIAGNOSTIC_PUSH _Pragma("warning(push)")
#define COAL_COMPILER_DIAGNOSTIC_POP _Pragma("warning(pop)")
#define COAL_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS \
 _Pragma("warning(disable : 4996)")
#define COAL_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED \
 _Pragma("warning(disable : 4700)")
#else
#define COAL_COMPILER_DIAGNOSTIC_PUSH
#define COAL_COMPILER_DIAGNOSTIC_POP
#define COAL_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS
#define COAL_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
#endif // __GNUC__

namespace coal {
using std::dynamic_pointer_cast;
using std::make_shared;
using std::shared_ptr;

class CollisionObject;
typedef shared_ptr<CollisionObject> CollisionObjectPtr_t;
typedef shared_ptr<const CollisionObject> CollisionObjectConstPtr_t;
class CollisionGeometry;
typedef shared_ptr<CollisionGeometry> CollisionGeometryPtr_t;
typedef shared_ptr<const CollisionGeometry> CollisionGeometryConstPtr_t;
class Transform3s;

class AABB;

class BVHModelBase;
typedef shared_ptr<BVHModelBase> BVHModelPtr_t;

class OcTree;
typedef shared_ptr<OcTree> OcTreePtr_t;
typedef shared_ptr<const OcTree> OcTreeConstPtr_t;
} // namespace coal

#ifdef COAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL
namespace hpp {
namespace fcl {
using namespace coal;
using Transform3f = Transform3s; // For backward compatibility
} // namespace fcl
} // namespace hpp
#endif

#endif // COAL_FWD_HH