fixed the problem in signed distance for the geometry shape. When shapes are in collision, the distance call with signed distance enabled will return a pair of nearest points on the surface of objects

Author: panjia1983

include/fcl/narrowphase/detail/convexity_based_algorithm/alloc.h

@@ -0,0 +1,50 @@
+/***
+ * libccd
+ * ---------------------------------
+ * Copyright (c)2010 Daniel Fiser <danfis@danfis.cz>
+ *
+ *
+ *  This file is part of libccd.
+ *
+ *  Distributed under the OSI-approved BSD License (the "License");
+ *  see accompanying file BDS-LICENSE for details or see
+ *  <http://www.opensource.org/licenses/bsd-license.php>.
+ *
+ *  This software is distributed WITHOUT ANY WARRANTY; without even the
+ *  implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *  See the License for more information.
+ */
+
+#ifndef __CCD_ALLOC_H__
+#define __CCD_ALLOC_H__
+
+#include <stdlib.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif /* __cplusplus */
+
+/**
+ * Functions and macros required for memory allocation.
+ */
+
+/* Memory allocation: */
+#define __CCD_ALLOC_MEMORY(type, ptr_old, size) \
+    (type *)realloc((void *)ptr_old, (size))
+
+/** Allocate memory for one element of type.  */
+#define CCD_ALLOC(type) \
+    __CCD_ALLOC_MEMORY(type, NULL, sizeof(type))
+
+/** Allocate memory for array of elements of type type.  */
+#define CCD_ALLOC_ARR(type, num_elements) \
+    __CCD_ALLOC_MEMORY(type, NULL, sizeof(type) * (num_elements))
+
+#define CCD_REALLOC_ARR(ptr, type, num_elements) \
+    __CCD_ALLOC_MEMORY(type, ptr, sizeof(type) * (num_elements))
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif /* __cplusplus */
+
+#endif /* __CCD_ALLOC_H__ */