[SCM] choreonoid branch, master, updated. upstream/1.1.0+dfsg-65-ge8afaab
Thomas Moulard
thomas.moulard at gmail.com
Tue Jun 4 01:46:28 UTC 2013
The following commit has been merged in the master branch:
commit 8e1955fb6e7905efc1230a6f30564d7fd53d35c0
Author: Thomas Moulard <thomas.moulard at gmail.com>
Date: Tue Jun 4 08:14:59 2013 +0900
Update patches.
diff --git a/debian/patches/0004-Install-choreonoid-program-when-build-type-is-RelWit.patch b/debian/patches/0004-Install-choreonoid-program-when-build-type-is-RelWit.patch
index d7fcf6b..237cd9f 100644
--- a/debian/patches/0004-Install-choreonoid-program-when-build-type-is-RelWit.patch
+++ b/debian/patches/0004-Install-choreonoid-program-when-build-type-is-RelWit.patch
@@ -17,6 +17,6 @@ index 80d3c4c..39715b5 100644
@@ -30,4 +30,4 @@ if(MSVC)
set_target_properties(${target} PROPERTIES DEBUG_POSTFIX -debug)
endif()
-
+
-install(TARGETS ${target} RUNTIME DESTINATION bin CONFIGURATIONS Release Debug)
+install(TARGETS ${target} RUNTIME DESTINATION bin CONFIGURATIONS Release Debug RelWithDebInfo)
diff --git a/debian/patches/0005-Install-pkg-config-file-in-lib-arch-directory.patch b/debian/patches/0005-Install-pkg-config-file-in-lib-arch-directory.patch
index 2806bdb..2ab382d 100644
--- a/debian/patches/0005-Install-pkg-config-file-in-lib-arch-directory.patch
+++ b/debian/patches/0005-Install-pkg-config-file-in-lib-arch-directory.patch
@@ -6,7 +6,6 @@ Install pkg-config file in lib/arch directory.
Forwarded: yes
Author: Thomas Moulard <thomas.moulard at gmail.com>
-
---
misc/pkgconfig/CMakeLists.txt | 3 ++-
1 file changed, 2 insertions(+), 1 deletion(-)
@@ -24,4 +23,4 @@ index 505373a..260cdea 100644
+ DESTINATION lib/${CMAKE_LIBRARY_ARCHITECTURE}/pkgconfig)
endif()
endforeach()
-
+
diff --git a/debian/patches/0006-Port-to-Boost-Filesystem-v3.patch b/debian/patches/0006-Port-to-Boost-Filesystem-v3.patch
new file mode 100644
index 0000000..4bca260
--- /dev/null
+++ b/debian/patches/0006-Port-to-Boost-Filesystem-v3.patch
@@ -0,0 +1,388 @@
+From: Thomas Moulard <thomas.moulard at gmail.com>
+Date: Tue, 4 Jun 2013 08:10:10 +0900
+Subject: Port to Boost Filesystem v3.
+
+Port to Boost Filesystem v3.
+
+Forwarded: yes
+Author: Thomas Moulard <thomas.moulard at gmail.com>
+---
+ CMakeLists.txt | 4 ----
+ src/Base/App.cpp | 20 ++++++++++----------
+ src/Base/AppConfig.cpp | 6 +++---
+ src/Base/Archive.cpp | 8 ++++----
+ src/Base/ItemManager.cpp | 2 +-
+ src/Base/MovieGenerator.cpp | 2 +-
+ src/Base/PluginManager.cpp | 2 +-
+ src/Base/ProjectManager.cpp | 4 ++--
+ src/Base/SceneItem.cpp | 4 ++--
+ src/Body/BodyCustomizerInterface.cpp | 8 ++++----
+ src/Body/BodyLoader.cpp | 4 ++--
+ src/Body/BodyMotionUtil.cpp | 16 ++++++++--------
+ src/BodyPlugin/BodyItem.cpp | 2 +-
+ src/Util/VrmlParser.cpp | 10 +++++-----
+ 14 files changed, 44 insertions(+), 48 deletions(-)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index b10df21..056d687 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -133,10 +133,6 @@ link_directories(${Boost_LIBRARY_DIRS})
+
+ set_property(DIRECTORY APPEND PROPERTY COMPILE_DEFINITIONS_RELEASE BOOST_DISABLE_ASSERTS)
+
+-# todo: update filesystem version to 3
+-set_property(DIRECTORY APPEND PROPERTY COMPILE_DEFINITIONS BOOST_FILESYSTEM_VERSION=2)
+-
+-
+ if(MSVC)
+ set_property(DIRECTORY APPEND PROPERTY COMPILE_DEFINITIONS BOOST_ALL_DYN_LINK ${BOOST_LIB_DIAGNOSTIC})
+
+diff --git a/src/Base/App.cpp b/src/Base/App.cpp
+index 01ccc6d..104a79d 100644
+--- a/src/Base/App.cpp
++++ b/src/Base/App.cpp
+@@ -192,16 +192,16 @@ void AppImpl::findProgramTopDirectory()
+ TCHAR execFilePath[BUFSIZE];
+ if(GetModuleFileName(NULL, execFilePath, BUFSIZE)){
+ #ifndef UNICODE
+- programDirectory_ = filesystem::path(execFilePath).branch_path().file_string();
+- programTopDirectory_ = filesystem::path(execFilePath).branch_path().branch_path().file_string();
++ programDirectory_ = filesystem::path(execFilePath).branch_path().native();
++ programTopDirectory_ = filesystem::path(execFilePath).branch_path().branch_path().native();
+ #else
+ int codepage = _getmbcp();
+ const int newSize = WideCharToMultiByte(codepage, 0, execFilePath, -1, NULL, 0, NULL, NULL);
+ if(newSize > 0){
+ vector<filesystem::path::String> execFilePathMB(newSize + 1);
+ newSize = WideCharToMultiByte(codepage, 0, execFilePath, -1, &execFilePathMB[0], newSize + 1, NULL, NULL);
+- programDirectory_ = filesystem::path(execFilePathUtf8).branch_path().file_string();
+- programTopDirectory_ = filesystem::path(execFilePathUtf8).branch_path().branch_path().file_string();
++ programDirectory_ = filesystem::path(execFilePathUtf8).branch_path().native();
++ programTopDirectory_ = filesystem::path(execFilePathUtf8).branch_path().branch_path().native();
+ }
+ #endif // UNICODE
+ }
+@@ -215,8 +215,8 @@ void AppImpl::findProgramTopDirectory()
+ char buf[BUFSIZE];
+ int n = readlink("/proc/self/exe", buf, BUFSIZE - 1);
+ buf[n] = 0;
+- programDirectory_ = filesystem::path(buf).branch_path().file_string();
+- programTopDirectory_ = filesystem::path(buf).branch_path().branch_path().file_string();
++ programDirectory_ = filesystem::path(buf).branch_path().native();
++ programTopDirectory_ = filesystem::path(buf).branch_path().branch_path().native();
+ }
+ }
+ #endif // Q_OS_LINUX
+@@ -225,16 +225,16 @@ void AppImpl::findProgramTopDirectory()
+ char buf[1024];
+ uint32_t n = sizeof(buf);
+ if(_NSGetExecutablePath(buf, &n) == 0){
+- programDirectory_ = filesystem::path(buf).branch_path().file_string();
+- programTopDirectory_ = filesystem::path(buf).branch_path().branch_path().file_string();
++ programDirectory_ = filesystem::path(buf).branch_path().native();
++ programTopDirectory_ = filesystem::path(buf).branch_path().branch_path().native();
+ }
+ #endif // Q_OS_DARWIN
+
+ filesystem::path sharePath = filesystem::path(programTopDirectory_) / CNOID_SHARE_SUBDIR;
+ if(filesystem::is_directory(sharePath)){
+- shareDirectory_ = sharePath.file_string();
++ shareDirectory_ = sharePath.native();
+ } else {
+- shareDirectory_ = sharePath.parent_path().file_string();
++ shareDirectory_ = sharePath.parent_path().native();
+ }
+ }
+
+diff --git a/src/Base/AppConfig.cpp b/src/Base/AppConfig.cpp
+index 3dc150a..0e30e00 100644
+--- a/src/Base/AppConfig.cpp
++++ b/src/Base/AppConfig.cpp
+@@ -48,7 +48,7 @@ bool AppConfig::initialize(const std::string& application_, const std::string& o
+
+ if(!configDirPath.empty()){
+ fullPath = configDirPath / filePath;
+- std::string fullPathString = fullPath.file_string();
++ std::string fullPathString = fullPath.native();
+ load(fullPathString);
+ }
+
+@@ -80,7 +80,7 @@ bool AppConfig::flush()
+ "\"%1%\" is not a directory.\n"
+ "It should be directory to contain the config file.\n"
+ "The configuration cannot be stored into the file system";
+- showWarningDialog(format(_(m)) % configDirPath.file_string());
++ showWarningDialog(format(_(m)) % configDirPath.native());
+ return false;
+ }
+ } else {
+@@ -88,7 +88,7 @@ bool AppConfig::flush()
+ }
+ }
+
+- return save(fullPath.file_string());
++ return save(fullPath.native());
+ }
+
+
+diff --git a/src/Base/Archive.cpp b/src/Base/Archive.cpp
+index 529e3fa..4d03202 100644
+--- a/src/Base/Archive.cpp
++++ b/src/Base/Archive.cpp
+@@ -122,7 +122,7 @@ void Archive::initSharedInfo(const std::string& projectFile)
+
+ shared->directoryVariableMap = AppConfig::archive()->openMapping("PathVariables");
+
+- shared->projectDirPath = filesystem::complete(filesystem::path(projectFile)).branch_path();
++ shared->projectDirPath = filesystem3::absolute(filesystem::path(projectFile)).branch_path();
+ shared->topDirPath = App::topDirectory();
+ shared->shareDirPath = App::shareDirectory();
+
+@@ -195,15 +195,15 @@ bool Archive::readRelocatablePath(const std::string& key, std::string& out_value
+
+ filesystem::path path(pathString.toStdString());
+ if(path.is_complete()){
+- out_value = path.file_string();
++ out_value = path.native();
+ } else {
+ filesystem::path fullPath = shared->projectDirPath / path;
+ if(!path.empty() && (*path.begin() == "..")){
+ filesystem::path compact;
+ makePathCompact(fullPath, compact);
+- out_value = compact.file_string();
++ out_value = compact.native();
+ } else {
+- out_value = fullPath.file_string();
++ out_value = fullPath.native();
+ }
+ }
+ return true;
+diff --git a/src/Base/ItemManager.cpp b/src/Base/ItemManager.cpp
+index ec016e5..d73170b 100644
+--- a/src/Base/ItemManager.cpp
++++ b/src/Base/ItemManager.cpp
+@@ -714,7 +714,7 @@ void ItemManagerImpl::onLoadSpecificTypeItemActivated(LoaderPtr loader)
+
+ for(int i=0; i < filenames.size(); ++i){
+ ItemPtr item = loader->factory->create();
+- if(load(loader, item.get(), filesystem::path(filenames[i].toStdString()).file_string(), parentItem)){
++ if(load(loader, item.get(), filesystem::path(filenames[i].toStdString()).native(), parentItem)){
+ parentItem->addChildItem(item);
+ }
+ }
+diff --git a/src/Base/MovieGenerator.cpp b/src/Base/MovieGenerator.cpp
+index 1c6482c..2fe33d1 100644
+--- a/src/Base/MovieGenerator.cpp
++++ b/src/Base/MovieGenerator.cpp
+@@ -241,7 +241,7 @@ bool MovieGenerator::doRecordingLoop()
+ }
+ }
+
+- format filenameFormat((folder / basename).file_string());
++ format filenameFormat((folder / basename).native());
+
+ sceneView->setScreenSize(imageWidthSpin.get_value_as_int(), imageHeightSpin.get_value_as_int());
+
+diff --git a/src/Base/PluginManager.cpp b/src/Base/PluginManager.cpp
+index 3ce7543..afba506 100644
+--- a/src/Base/PluginManager.cpp
++++ b/src/Base/PluginManager.cpp
+@@ -233,7 +233,7 @@ void PluginManagerImpl::scanPluginFiles(const std::string& pathString, bool isRe
+ filesystem::directory_iterator end;
+ for(filesystem::directory_iterator it(pluginPath); it != end; ++it){
+ const filesystem::path& filepath = *it;
+- scanPluginFiles(filepath.file_string(), true);
++ scanPluginFiles(filepath.native(), true);
+ }
+ }
+ } else {
+diff --git a/src/Base/ProjectManager.cpp b/src/Base/ProjectManager.cpp
+index 4252cd2..a2b52f4 100644
+--- a/src/Base/ProjectManager.cpp
++++ b/src/Base/ProjectManager.cpp
+@@ -404,7 +404,7 @@ void ProjectManagerImpl::openDialogToLoadProject()
+ if(dialog.exec()){
+ AppConfig::archive()->writePath("currentFileDialogDirectory", dialog.directory().absolutePath().toStdString());
+
+- loadProject(filesystem::path(dialog.selectedFiles().front().toStdString()).file_string(), false);
++ loadProject(filesystem::path(dialog.selectedFiles().front().toStdString()).native(), false);
+ }
+ }
+
+@@ -428,7 +428,7 @@ void ProjectManagerImpl::openDialogToSaveProject()
+ if(dialog.exec()){
+ AppConfig::archive()->writePath("currentFileDialogDirectory", dialog.directory().absolutePath().toStdString());
+ filesystem::path path(dialog.selectedFiles().front().toStdString());
+- string filename(path.file_string());
++ string filename(path.native());
+ string ext = filesystem::extension(path);
+ if(ext != ".cnoid"){
+ filename += ".cnoid";
+diff --git a/src/Base/SceneItem.cpp b/src/Base/SceneItem.cpp
+index 712630a..5bd2e4d 100644
+--- a/src/Base/SceneItem.cpp
++++ b/src/Base/SceneItem.cpp
+@@ -29,7 +29,7 @@ namespace {
+ SceneObject::ReadResult result = item->loadScene(filename);
+ if(result.success()){
+ if(item->name().empty()){
+- item->setName(filesystem::path(filename).leaf());
++ item->setName(filesystem::path(filename).filename().string());
+ }
+ } else {
+ os << result.message();
+@@ -153,7 +153,7 @@ ItemPtr SceneItem::doDuplicate() const
+
+ void SceneItem::doPutProperties(PutPropertyFunction& putProperty)
+ {
+- putProperty(_("Scene file"), filesystem::path(lastAccessedFileName()).leaf());
++ putProperty(_("Scene file"), filesystem::path(lastAccessedFileName()).filename().string());
+ }
+
+
+diff --git a/src/Body/BodyCustomizerInterface.cpp b/src/Body/BodyCustomizerInterface.cpp
+index 3c7ff4a..a9980f0 100644
+--- a/src/Body/BodyCustomizerInterface.cpp
++++ b/src/Body/BodyCustomizerInterface.cpp
+@@ -55,9 +55,9 @@ namespace {
+
+ inline string toNativePathString(const filesystem::path& path) {
+ #if (BOOST_VERSION <= 103301)
+- return path.native_file_string();
++ return path.native_native();
+ #else
+- return path.file_string();
++ return path.native();
+ #endif
+ }
+
+@@ -141,7 +141,7 @@ int cnoid::loadBodyCustomizers(const std::string pathString, BodyInterface* body
+
+ int numLoaded = 0;
+
+- filesystem::path pluginPath(pathString, filesystem::native);
++ filesystem::path pluginPath(pathString);
+
+ if(filesystem::exists(pluginPath)){
+
+@@ -155,7 +155,7 @@ int cnoid::loadBodyCustomizers(const std::string pathString, BodyInterface* body
+ for(filesystem::directory_iterator it(pluginPath); it != end; ++it){
+ const filesystem::path& filepath = *it;
+ if(!filesystem::is_directory(filepath)){
+- string filename(filepath.leaf());
++ string filename(filepath.filename().string());
+ size_t pos = filename.rfind(pluginNamePattern);
+ if(pos == (filename.size() - pluginNamePattern.size())){
+ if(loadCustomizerDll(bodyInterface, toNativePathString(filepath))){
+diff --git a/src/Body/BodyLoader.cpp b/src/Body/BodyLoader.cpp
+index 8482698..67175aa 100644
+--- a/src/Body/BodyLoader.cpp
++++ b/src/Body/BodyLoader.cpp
+@@ -241,9 +241,9 @@ BodyPtr BodyLoaderImpl::loadModelFile
+ info = parser.document()->toMapping();
+ filesystem::path vrmlFilePath(info->get("modelFile"));
+ if(vrmlFilePath.has_root_path()){
+- vrmlFile = vrmlFilePath.file_string();
++ vrmlFile = vrmlFilePath.native();
+ } else {
+- vrmlFile = (orgpath.branch_path() / vrmlFilePath).file_string();
++ vrmlFile = (orgpath.branch_path() / vrmlFilePath).native();
+ }
+ }
+ }
+diff --git a/src/Body/BodyMotionUtil.cpp b/src/Body/BodyMotionUtil.cpp
+index 0be372c..ff9f1d4 100644
+--- a/src/Body/BodyMotionUtil.cpp
++++ b/src/Body/BodyMotionUtil.cpp
+@@ -140,7 +140,7 @@ bool cnoid::loadHrpsysSeqFileSet(BodyMotion& motion, const std::string& filename
+
+ filesystem::path posFile = filesystem::change_extension(orgpath, ".pos");
+ if(filesystem::exists(posFile) && !filesystem::is_directory(posFile)){
+- string posFileString(posFile.file_string());
++ string posFileString(posFile.native());
+ if(motion.jointPosSeq()->loadPlainFormat(posFileString)){
+ if(posFileString == filename){
+ loaded = true;
+@@ -149,7 +149,7 @@ bool cnoid::loadHrpsysSeqFileSet(BodyMotion& motion, const std::string& filename
+ }
+ filesystem::path waistFile = filesystem::change_extension(orgpath, ".waist");
+ if(filesystem::exists(waistFile) && !filesystem::is_directory(waistFile)){
+- string waistFileString(waistFile.file_string());
++ string waistFileString(waistFile.native());
+ if(motion.linkPosSeq()->loadPlainFormat(waistFileString)){
+ if(waistFileString == filename){
+ loaded = true;
+@@ -158,7 +158,7 @@ bool cnoid::loadHrpsysSeqFileSet(BodyMotion& motion, const std::string& filename
+ }
+ filesystem::path zmpFile = filesystem::change_extension(orgpath, ".zmp");
+ if(filesystem::exists(zmpFile) && !filesystem::is_directory(zmpFile)){
+- string zmpFileString(zmpFile.file_string());
++ string zmpFileString(zmpFile.native());
+ if(motion.relativeZmpSeq()->loadPlainFormat(zmpFileString)){
+ if(zmpFileString == filename){
+ loaded = true;
+@@ -180,14 +180,14 @@ bool cnoid::saveHrpsysSeqFileSet(BodyMotion& motion, BodyPtr body, const std::st
+ filesystem::path orgpath(filename);
+ filesystem::path bpath(orgpath.branch_path() / filesystem::path(basename(orgpath)));
+
+- if(motion.jointPosSeq()->saveAsPlainFormat(filesystem::change_extension(orgpath, ".pos").file_string()) &&
+- motion.linkPosSeq()->saveTopPartAsPlainFormat(filesystem::change_extension(orgpath, ".waist").file_string()) &&
+- saveRootLinkAttAsRpyFormat(motion, filesystem::change_extension(orgpath, ".hip").file_string(), os)){
++ if(motion.jointPosSeq()->saveAsPlainFormat(filesystem::change_extension(orgpath, ".pos").native()) &&
++ motion.linkPosSeq()->saveTopPartAsPlainFormat(filesystem::change_extension(orgpath, ".waist").native()) &&
++ saveRootLinkAttAsRpyFormat(motion, filesystem::change_extension(orgpath, ".hip").native(), os)){
+
+- saveRootLinkAccAsGsensFile(motion, body, filesystem::change_extension(orgpath, ".gsens").file_string(), os);
++ saveRootLinkAccAsGsensFile(motion, body, filesystem::change_extension(orgpath, ".gsens").native(), os);
+
+ if(motion.hasRelativeZmpSeq()){
+- return motion.relativeZmpSeq()->saveAsPlainFormat(filesystem::change_extension(orgpath, ".zmp").file_string());
++ return motion.relativeZmpSeq()->saveAsPlainFormat(filesystem::change_extension(orgpath, ".zmp").native());
+ }
+ return true;
+ }
+diff --git a/src/BodyPlugin/BodyItem.cpp b/src/BodyPlugin/BodyItem.cpp
+index 46dc897..75b28e3 100644
+--- a/src/BodyPlugin/BodyItem.cpp
++++ b/src/BodyPlugin/BodyItem.cpp
+@@ -822,7 +822,7 @@ void BodyItem::doPutProperties(PutPropertyFunction& putProperty)
+ putProperty(_("Base link"), currentBaseLink_ ? currentBaseLink_->name() : "none");
+ putProperty(_("Mass"), body_->totalMass());
+ putProperty(_("Static model ?"), body_->isStaticModel());
+- putProperty(_("Model file"), filesystem::path(modelFilePath_).leaf());
++ putProperty(_("Model file"), filesystem::path(modelFilePath_).filename().string());
+
+ putProperty(_("Self-collision"), isSelfCollisionDetectionEnabled_,
+ (bind(&BodyItem::onSelfCollisionDetectionPropertyChanged, this, _1)));
+diff --git a/src/Util/VrmlParser.cpp b/src/Util/VrmlParser.cpp
+index 25f2927..e602c69 100644
+--- a/src/Util/VrmlParser.cpp
++++ b/src/Util/VrmlParser.cpp
+@@ -89,13 +89,13 @@ namespace {
+ void getPathFromUrl(string& refUrl, const string& rootDir, string srcUrl)
+ {
+ if ( isFileProtocol(srcUrl) ){ // ローカルファイル //
+- filesystem::path filepath( deleteURLScheme(srcUrl), filesystem::native);
++ filesystem::path filepath( deleteURLScheme(srcUrl) );
+ if(filesystem::exists(filepath)){ // 元が絶対パス //
+- refUrl = filesystem::system_complete(filepath).file_string();
++ refUrl = filesystem::system_complete(filepath).native();
+ }else{ // 元が相対パス //
+- filesystem::path filepath(rootDir + deleteURLScheme(srcUrl), filesystem::native);
++ filesystem::path filepath(rootDir + deleteURLScheme(srcUrl) );
+ if(filesystem::exists(filepath)){
+- refUrl = filesystem::system_complete(filepath).file_string();
++ refUrl = filesystem::system_complete(filepath).native();
+ }
+ }
+ } else {
+@@ -540,7 +540,7 @@ void VrmlParserImpl::load(const string& filename)
+ {
+ filesystem::path path(filename);
+ path.normalize();
+- string pathString(path.file_string());
++ string pathString(path.native());
+ ancestorPathsList.push_back(pathString);
+ scanner->loadFile(pathString);
+
diff --git a/debian/patches/0007-Fix-cast-from-pointer-to-udword-losing-precision.patch b/debian/patches/0007-Fix-cast-from-pointer-to-udword-losing-precision.patch
new file mode 100644
index 0000000..a9f90f0
--- /dev/null
+++ b/debian/patches/0007-Fix-cast-from-pointer-to-udword-losing-precision.patch
@@ -0,0 +1,51 @@
+From: Thomas Moulard <thomas.moulard at gmail.com>
+Date: Tue, 4 Jun 2013 08:13:54 +0900
+Subject: Fix cast from pointer to udword losing precision.
+
+Fix cast from pointer to udword losing precision.
+
+Forwarded: yes
+Author: Thomas Moulard <thomas.moulard at gmail.com>
+---
+ src/Collision/Opcode/OPC_AABBTree.h | 7 ++-----
+ src/Collision/Opcode/OPC_OptimizedTree.h | 7 ++-----
+ 2 files changed, 4 insertions(+), 10 deletions(-)
+
+diff --git a/src/Collision/Opcode/OPC_AABBTree.h b/src/Collision/Opcode/OPC_AABBTree.h
+index b657130..2d0f90f 100644
+--- a/src/Collision/Opcode/OPC_AABBTree.h
++++ b/src/Collision/Opcode/OPC_AABBTree.h
+@@ -19,12 +19,9 @@
+ // Include Guard
+ #ifndef __OPC_AABBTREE_H__
+ #define __OPC_AABBTREE_H__
++#include <stdint.h>
+
+-#ifdef __x86_64
+-#define EXWORD uqword
+-#else
+-#define EXWORD udword
+-#endif
++#define EXWORD uintptr_t
+
+ #ifdef OPC_NO_NEG_VANILLA_TREE
+ //! TO BE DOCUMENTED
+diff --git a/src/Collision/Opcode/OPC_OptimizedTree.h b/src/Collision/Opcode/OPC_OptimizedTree.h
+index 11bf0ab..da79e5b 100644
+--- a/src/Collision/Opcode/OPC_OptimizedTree.h
++++ b/src/Collision/Opcode/OPC_OptimizedTree.h
+@@ -19,12 +19,9 @@
+ // Include Guard
+ #ifndef __OPC_OPTIMIZEDTREE_H__
+ #define __OPC_OPTIMIZEDTREE_H__
++#include <stdint.h>
+
+-#ifdef __x86_64
+-#define EXWORD uqword
+-#else
+-#define EXWORD udword
+-#endif
++#define EXWORD uintptr_t
+
+ //! Common interface for a node of an implicit tree
+ #define IMPLEMENT_IMPLICIT_NODE(base_class, volume) \
diff --git a/debian/patches/series b/debian/patches/series
index 44ade4e..07821c0 100644
--- a/debian/patches/series
+++ b/debian/patches/series
@@ -3,3 +3,5 @@
0003-Fix-multiarchi-support.patch
0004-Install-choreonoid-program-when-build-type-is-RelWit.patch
0005-Install-pkg-config-file-in-lib-arch-directory.patch
+0006-Port-to-Boost-Filesystem-v3.patch
+0007-Fix-cast-from-pointer-to-udword-losing-precision.patch
--
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