compile error in include\fcl\geometry\bvh\BVH_model-inl.h (problem with signed and unsigned

[AdmiralPellaeon]

Hi,

I use Visual C++ 2022, v143 toolset, compiler flag C++20.

When trying to compile my FCL code, I get the error "error C4146: unary minus operator applied to unsigned type, result still unsigned" in include\fcl\geometry\bvh\BVH_model-inl.h, line 884 (bvnode->first_child = -((*cur_primitive_indices) + 1);)

Seems the calculation (dereferenced pointer + 1) results in an unsigned int type. Therefore the prefix '-' is an error for the compiler.

Adding an explicit cast (bvnode->first_child = -(static_cast<int>(*cur_primitive_indices) + 1);) helps to solve the issue.

Best regards