Fixed issue with creating instances of type InterpMotion<float>

include/fcl/math/motion/interp_motion-inl.h

@@ -44,6 +44,9 @@ namespace fcl
 {
 
 //==============================================================================
+extern template
+class FCL_EXPORT InterpMotion<float>;
+
 extern template
 class FCL_EXPORT InterpMotion<double>;
 
@@ -127,7 +130,7 @@ InterpMotion<S>::InterpMotion(
 
 //==============================================================================
 template <typename S>
-bool InterpMotion<S>::integrate(double dt) const
+bool InterpMotion<S>::integrate(S dt) const
 {
   if(dt > 1) dt = 1;
 

include/fcl/math/motion/interp_motion.h

@@ -76,7 +76,7 @@ class FCL_EXPORT InterpMotion : public MotionBase<S>
 
   /// @brief Integrate the motion from 0 to dt
   /// We compute the current transformation from zero point instead of from last integrate time, for precision.
-  bool integrate(double dt) const;
+  bool integrate(S dt) const;
 
   /// @brief Compute the motion bound for a bounding volume along a given direction n, which is defined in the visitor
   S computeMotionBound(const BVMotionBoundVisitor<S>& mb_visitor) const;

include/fcl/math/motion/screw_motion-inl.h

@@ -44,6 +44,9 @@ namespace fcl
 {
 
 //==============================================================================
+extern template
+class FCL_EXPORT ScrewMotion<float>;
+
 extern template
 class FCL_EXPORT ScrewMotion<double>;
 
@@ -92,7 +95,7 @@ ScrewMotion<S>::ScrewMotion(
 
 //==============================================================================
 template <typename S>
-bool ScrewMotion<S>::integrate(double dt) const
+bool ScrewMotion<S>::integrate(S dt) const
 {
   if(dt > 1) dt = 1;
 

include/fcl/math/motion/screw_motion.h

@@ -65,7 +65,7 @@ class FCL_EXPORT ScrewMotion : public MotionBase<S>
 
   /// @brief Integrate the motion from 0 to dt
   /// We compute the current transformation from zero point instead of from last integrate time, for precision.
-  bool integrate(double dt) const;
+  bool integrate(S dt) const;
 
   /// @brief Compute the motion bound for a bounding volume along a given direction n, which is defined in the visitor
   S computeMotionBound(const BVMotionBoundVisitor<S>& mb_visitor) const;

include/fcl/narrowphase/collision-inl.h

@@ -48,6 +48,14 @@ namespace fcl
 {
 
 //==============================================================================
+extern template
+FCL_EXPORT
+std::size_t collide(
+    const CollisionObject<float>* o1,
+    const CollisionObject<float>* o2,
+    const CollisionRequest<float>& request,
+    CollisionResult<float>& result);
+
 extern template
 FCL_EXPORT
 std::size_t collide(
@@ -57,6 +65,16 @@ std::size_t collide(
     CollisionResult<double>& result);
 
 //==============================================================================
+extern template
+FCL_EXPORT
+std::size_t collide(
+    const CollisionGeometry<float>* o1,
+    const Transform3<float>& tf1,
+    const CollisionGeometry<float>* o2,
+    const Transform3<float>& tf2,
+    const CollisionRequest<float>& request,
+    CollisionResult<float>& result);
+
 extern template
 FCL_EXPORT
 std::size_t collide(

include/fcl/narrowphase/collision_object-inl.h

@@ -44,6 +44,9 @@ namespace fcl
 {
 
 //==============================================================================
+extern template
+class FCL_EXPORT CollisionObject<float>;
+
 extern template
 class FCL_EXPORT CollisionObject<double>;
 

include/fcl/narrowphase/continuous_collision-inl.h

@@ -55,6 +55,15 @@ namespace fcl
 {
 
 //==============================================================================
+extern template
+float continuousCollide(
+    const CollisionGeometry<float>* o1,
+    const MotionBase<float>* motion1,
+    const CollisionGeometry<float>* o2,
+    const MotionBase<float>* motion2,
+    const ContinuousCollisionRequest<float>& request,
+    ContinuousCollisionResult<float>& result);
+
 extern template
 double continuousCollide(
     const CollisionGeometry<double>* o1,
@@ -65,6 +74,17 @@ double continuousCollide(
     ContinuousCollisionResult<double>& result);
 
 //==============================================================================
+extern template
+float continuousCollide(
+    const CollisionGeometry<float>* o1,
+    const Transform3<float>& tf1_beg,
+    const Transform3<float>& tf1_end,
+    const CollisionGeometry<float>* o2,
+    const Transform3<float>& tf2_beg,
+    const Transform3<float>& tf2_end,
+    const ContinuousCollisionRequest<float>& request,
+    ContinuousCollisionResult<float>& result);
+
 extern template
 double continuousCollide(
     const CollisionGeometry<double>* o1,
@@ -77,6 +97,15 @@ double continuousCollide(
     ContinuousCollisionResult<double>& result);
 
 //==============================================================================
+extern template
+float continuousCollide(
+    const CollisionObject<float>* o1,
+    const Transform3<float>& tf1_end,
+    const CollisionObject<float>* o2,
+    const Transform3<float>& tf2_end,
+    const ContinuousCollisionRequest<float>& request,
+    ContinuousCollisionResult<float>& result);
+
 extern template
 double continuousCollide(
     const CollisionObject<double>* o1,
@@ -87,13 +116,21 @@ double continuousCollide(
     ContinuousCollisionResult<double>& result);
 
 //==============================================================================
+extern template
+float collide(
+    const ContinuousCollisionObject<float>* o1,
+    const ContinuousCollisionObject<float>* o2,
+    const ContinuousCollisionRequest<float>& request,
+    ContinuousCollisionResult<float>& result);
+
 extern template
 double collide(
     const ContinuousCollisionObject<double>* o1,
     const ContinuousCollisionObject<double>* o2,
     const ContinuousCollisionRequest<double>& request,
     ContinuousCollisionResult<double>& result);
 
+
 //==============================================================================
 template<typename GJKSolver>
 detail::ConservativeAdvancementFunctionMatrix<GJKSolver>&