Merge branch 'develop'

MRPT · Apr 24, 2024 · ec27e53 · ec27e53
2 parents 0b786d7 + 52b0935
commit ec27e53
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Showing 5 changed files with 15 additions and 7 deletions.
diff --git a/CHANGELOG.rst b/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package mvsim
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.9.3 (2024-04-24)
+------------------
+* Fix usage of (new explicit) TPoint3D constructors
+* Contributors: Jose Luis Blanco-Claraco
+
 0.9.2 (2024-03-21)
 ------------------
 * BUG FIX: 3D lidars should not 'see' XYZ corners of wheels

diff --git a/modules/simulator/include/mvsim/mvsim_version.h b/modules/simulator/include/mvsim/mvsim_version.h
@@ -12,7 +12,7 @@
 // clang-format off
 #define MVSIM_MAJOR_VERSION 0
 #define MVSIM_MINOR_VERSION 9
-#define MVSIM_PATCH_VERSION 2
+#define MVSIM_PATCH_VERSION 3
 
 #define MVSIM_STR_EXP(__A) #__A
 #define MVSIM_STR(__A)  MVSIM_STR_EXP(__A)

diff --git a/modules/simulator/src/CollisionShapeCache.cpp b/modules/simulator/src/CollisionShapeCache.cpp
@@ -207,14 +207,16 @@ Shape2p5 CollisionShapeCache::processGenericGeometry(
 		mrpt::math::TPoint2Df(coarseBB.min.x, coarseBB.min.y),
 		mrpt::math::TPoint2Df(coarseBB.max.x, coarseBB.max.y));
 
-	auto lambdaUpdatePt = [&](const mrpt::math::TPoint3Df& orgPt) {
+	auto lambdaUpdatePt = [&](const mrpt::math::TPoint3Df& orgPt)
+	{
 		numTotalPts++;
 		auto pt = modelPose.composePoint(orgPt * modelScale);
 		if (pt.z < zMin || pt.z > zMax) return;	 // skip
 		ret.buildAddPoint(pt);
 		numPassedPts++;
 	};
-	auto lambdaUpdateTri = [&](const mrpt::opengl::TTriangle& tri) {
+	auto lambdaUpdateTri = [&](const mrpt::opengl::TTriangle& tri)
+	{
 		numTotalPts += 3;
 		// transform the whole triangle, then compare with [z,z] limits:
 		mrpt::opengl::TTriangle t = tri;
@@ -324,8 +326,8 @@ Shape2p5 CollisionShapeCache::processCylinderLike(
 	for (size_t i = 0; i < nFaces; i++)
 	{
 		const double ang = i * 2 * M_PI / nFaces;
-		const mrpt::math::TPoint2D localPt = {
-			cos(ang) * actualRadius, sin(ang) * actualRadius};
+		const mrpt::math::TPoint3D localPt = {
+			cos(ang) * actualRadius, sin(ang) * actualRadius, .0};
 		const auto pt = modelPose.composePoint(localPt * modelScale);
 		contour.emplace_back(pt.x, pt.y);
 	}

diff --git a/modules/simulator/src/World_walls.cpp b/modules/simulator/src/World_walls.cpp
@@ -177,7 +177,8 @@ void World::process_load_walls(const rapidxml::xml_node<char>& node)
 
 		// Transform them:
 		tfPts.reserve(segments.size());
-		for (const auto& pt : segments) tfPts.emplace_back(tf.composePoint(pt));
+		for (const auto& pt : segments)
+			tfPts.emplace_back(tf.composePoint(mrpt::math::TPoint3D(pt)));
 	}
 	else
 	{

diff --git a/package.xml b/package.xml
@@ -5,7 +5,7 @@
   <description>A lightweight multivehicle simulation framework.</description>
 
   <!-- All version numbers in CMake scripts are taken from this line: -->
-  <version>0.9.2</version>
+  <version>0.9.3</version>
 
   <maintainer email="[email protected]">Jose-Luis Blanco-Claraco</maintainer>
   <license>BSD</license>