From 5f8167ac7b671bb685d1169369c8a6384483c2af Mon Sep 17 00:00:00 2001
From: Sean Curtis <sean.curtis@tri.global>
Date: Mon, 24 Feb 2020 09:47:23 -0800
Subject: [PATCH] Replace non-portable M_PI with constants::pi() (#450)

* Replace non-portable M_PI with constansts::pi()
---
 CHANGELOG.md                                                 | 5 +++++
 .../convexity_based_algorithm/test_gjk_libccd-inl_epa.cpp    | 3 ++-
 2 files changed, 7 insertions(+), 1 deletion(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index ff6991676..3d1204e41 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -2,6 +2,11 @@
 
 ### FCL 0.7.0 (????-??-??)
 
+* Math
+
+  * Replace M_PI instance with constants::pi():
+     [#450](https://github.com/flexible-collision-library/fcl/pull/450)
+
 * Narrowphase
 
   * Various corrections and clarifications of the GJK algorithm used for general
diff --git a/test/narrowphase/detail/convexity_based_algorithm/test_gjk_libccd-inl_epa.cpp b/test/narrowphase/detail/convexity_based_algorithm/test_gjk_libccd-inl_epa.cpp
index b8ea645d9..769452d8e 100644
--- a/test/narrowphase/detail/convexity_based_algorithm/test_gjk_libccd-inl_epa.cpp
+++ b/test/narrowphase/detail/convexity_based_algorithm/test_gjk_libccd-inl_epa.cpp
@@ -257,7 +257,8 @@ GTEST_TEST(FCL_GJK_EPA, faceNormalPointingOutwardOriginNearFace1) {
   vertices[1] << 0, 1, face0_origin_distance;
   vertices[2] << -0.5, -0.5, face0_origin_distance;
   vertices[3] << 0, 0, -1;
-  Eigen::AngleAxis<ccd_real_t> rotation(0.05 * M_PI,
+  const double kPi = constants<double>::pi();
+  Eigen::AngleAxis<ccd_real_t> rotation(0.05 * kPi,
                                         Vector3<ccd_real_t>::UnitX());
   for (int i = 0; i < 4; ++i) {
     vertices[i] = rotation * vertices[i];