diff --git a/.appveyor.yml b/.appveyor.yml
index e75d122e1..7b25a506d 100644
--- a/.appveyor.yml
+++ b/.appveyor.yml
@@ -48,7 +48,7 @@ before_build:
   - cmd: set
   - cmd: mkdir build
   - cmd: cd build
-  - cmd: cmake -G "%CMAKE_GENERATOR_NAME%" -DCMAKE_BUILD_TYPE=%Configuration% -DCCD_INCLUDE_DIRS="C:\%PROGRAM_FILES_PATH%\libccd\include" -DCCD_LIBRARY="C:\%PROGRAM_FILES_PATH%\libccd\lib\ccd.lib" -DEIGEN3_INCLUDE_DIR="C:\%PROGRAM_FILES_PATH%\Eigen\include\eigen3" ..
+  - cmd: cmake -G "%CMAKE_GENERATOR_NAME%" -DCMAKE_BUILD_TYPE=%Configuration% -DCCD_INCLUDE_DIR="C:\%PROGRAM_FILES_PATH%\libccd\include" -DCCD_LIBRARY="C:\%PROGRAM_FILES_PATH%\libccd\lib\ccd.lib" -DEIGEN3_INCLUDE_DIR="C:\%PROGRAM_FILES_PATH%\Eigen\include\eigen3" ..
 
 build:
   project: C:\projects\fcl\build\fcl.sln
diff --git a/CMakeLists.txt b/CMakeLists.txt
index d3f5b143d..599d398e6 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -99,83 +99,134 @@ if(FCL_COVERALLS)
 endif()
 
 find_package(PkgConfig QUIET)
+set(PKG_CONFIG_USE_CMAKE_PREFIX_PATH ON)
 
-# Find Eigen3
-find_package(Eigen3 3.0.5 QUIET)
-if(EIGEN3_FOUND)
+#===============================================================================
+# Find required dependency Eigen3 (>= 3.0.5)
+#
+# If Eigen3 is not found, manually set the cache variable EIGEN3_INCLUDE_DIR
+#===============================================================================
+find_package(Eigen3 3.0.5 QUIET CONFIG)
+
+# If Eigen3Config.cmake is not found, use the FindEigen3.cmake module
+if(NOT Eigen3_FOUND)
+  find_package(Eigen3 3.0.5 QUIET MODULE)
+  set(Eigen3_FOUND ON)
+endif()
+
+if(Eigen3_FOUND)
   set(FCL_HAVE_EIGEN TRUE)
-  include_directories(SYSTEM ${EIGEN3_INCLUDE_DIR})
 else()
   message(SEND_ERROR "EIGEN3 (>= 3.0.5) is required by FCL")
   set(FCL_HAVE_EIGEN FALSE)
 endif()
 
-# Find libccd
+#===============================================================================
+# Find required dependency libccd
+#
+# If libccd is not found, manually set the cache variables CCD_INCLUDE_DIR and
+# CCD_LIBRARY
+#===============================================================================
 find_package(ccd QUIET)
 
-if(NOT CCD_FOUND AND PKG_CONFIG_FOUND)
-  pkg_check_modules(CCD ccd)
-  # check to see if the pkg is installed under the libccd name
-  if(NOT CCD_FOUND)
-    pkg_check_modules(CCD libccd)
+# If ccd-config.cmake is not found, use pkg-config and/or find_path() and
+# find_library()
+if(NOT ccd_FOUND)
+  if(PKG_CONFIG_FOUND)
+    pkg_check_modules(PC_CCD ccd)
+    pkg_check_modules(PC_LIBCCD libccd)
+  endif()
+
+  find_path(CCD_INCLUDE_DIR ccd/ccd.h
+    HINTS "${PC_CCD_INCLUDE_DIRS}" "${PC_LIBCCD_INCLUDE_DIRS}")
+
+  # Using find_library() even if pkg-config is available ensures that the full
+  # path to the ccd library is available in CCD_LIBRARIES
+  find_library(CCD_LIBRARY ccd
+    HINTS "${PC_CCD_LIBRARY_DIRS}" "${PC_LIBCCD_LIBRARY_DIRS}")
+
+  # libccd links to LibM on UNIX.
+  if(CYGWIN OR NOT WIN32)
+    find_library(M_LIBRARY m)
+  endif()
+
+  if(CCD_INCLUDE_DIR AND CCD_LIBRARY)
+    set(CCD_INCLUDE_DIRS "${CCD_INCLUDE_DIR}")
+    set(CCD_LIBRARIES "${CCD_LIBRARY}" "${M_LIBRARY}")
+    set(ccd_FOUND ON)
+
+    mark_as_advanced(CCD_INCLUDE_DIR CCD_LIBRARY)
   endif()
 endif()
 
-if(NOT CCD_FOUND)
-    # if pkgconfig is not installed, then fall back on more fragile detection
-    # of ccd
-    find_path(CCD_INCLUDE_DIRS ccd/ccd.h)
-    find_library(CCD_LIBRARY
-        ${CMAKE_SHARED_LIBRARY_PREFIX}ccd${CMAKE_SHARED_LIBRARY_SUFFIX})
-    if(CCD_INCLUDE_DIRS AND CCD_LIBRARY)
-        set(CCD_LIBRARIES "${CCD_LIBRARY}")
-    else()
-        message(FATAL_ERROR "Libccd is required by FCL")
-    endif()
+if(NOT ccd_FOUND)
+  message(FATAL_ERROR "CCD (>= 3.0.5) is required by FCL")
 endif()
-include_directories(SYSTEM ${CCD_INCLUDE_DIRS})
-link_directories(${CCD_LIBRARY_DIRS})
 
-# Find Octomap (optional)
-option(FCL_WITH_OCTOMAP "octomap library support" ON)
+set(PKG_EXTERNAL_DEPS "ccd eigen3")
+
+#===============================================================================
+# Find optional dependency OctoMap
+#
+# If OctoMap is not found, manually set the cache variables OCTOMAP_INCLUDE_DIR
+# and OCTOMAP_LIBRARY, OCTOMATH_LIBRARY, and OCTOMAP_VERSION
+#===============================================================================
+option(FCL_WITH_OCTOMAP "OctoMap library support" ON)
 set(FCL_HAVE_OCTOMAP 0)
+
 if(FCL_WITH_OCTOMAP)
   find_package(octomap QUIET)
-  # octomap-config.cmake may not define OCTOMAP_VERSION so fall back to
-  # pkgconfig
-  if(NOT OCTOMAP_VERSION AND PKG_CONFIG_FOUND)
-      pkg_check_modules(OCTOMAP QUIET octomap)
-  endif()
-  # whether octomap_FOUND and/or OCTOMAP_FOUND are set is inconsistent, but
-  # OCTOMAP_INCLUDE_DIRS and OCTOMAP_LIBRARY_DIRS should always be set when
-  # octomap is found
-  if(NOT OCTOMAP_INCLUDE_DIRS AND NOT OCTOMAP_LIBRARY_DIRS)
-      # if pkgconfig is not installed, then fall back on more fragile detection
-      # of octomap
-      find_path(OCTOMAP_INCLUDE_DIRS octomap.h
-          PATH_SUFFIXES octomap)
-      find_library(OCTOMAP_LIBRARY_DIRS
-          ${CMAKE_SHARED_LIBRARY_PREFIX}octomap${CMAKE_SHARED_LIBRARY_SUFFIX})
-      if(OCTOMAP_INCLUDE_DIRS AND OCTOMAP_LIBRARY_DIRS)
-          set(OCTOMAP_LIBRARIES "octomap;octomath")
-      endif()
+
+  # Older versions of octomap-config.cmake may not define OCTOMAP_VERSION so
+  # fall back to pkg-config
+  if(NOT octomap_FOUND OR NOT OCTOMAP_VERSION)
+    if(PKG_CONFIG_FOUND)
+      pkg_check_modules(PC_OCTOMAP octomap)
+    endif()
+
+    find_path(OCTOMAP_INCLUDE_DIR octomap/octomap.h
+      HINTS "${PC_OCTOMAP_INCLUDE_DIRS}")
+
+    # Using find_library() even if pkg-config is available ensures that the full
+    # paths to the octomap and octomath libraries are set in OCTOMAP_LIBRARIES
+    find_library(OCTOMAP_LIBRARY octomap
+      HINTS "${PC_OCTOMAP_LIBRARY_DIRS}")
+
+    find_library(OCTOMATH_LIBRARY octomath
+      HINTS "${PC_OCTOMAP_LIBRARY_DIRS}")
+
+    # Use a cache variable so that the version can be manually set if pkg-config
+    # is not available
+    set(OCTOMAP_VERSION "${PC_OCTOMAP_VERSION}"
+      CACHE STRING "octomap version (major.minor.patch)")
+
+    if(OCTOMAP_INCLUDE_DIR AND OCTOMAP_LIBRARY AND OCTOMATH_LIBRARY AND OCTOMAP_VERSION)
+      set(OCTOMAP_INCLUDE_DIRS "${OCTOMAP_INCLUDE_DIR}")
+      set(OCTOMAP_LIBRARIES "${OCTOMAP_LIBRARY}" "${OCTOMATH_LIBRARY}")
+      set(octomap_FOUND ON)
+
+      mark_as_advanced(OCTOMAP_INCLUDE_DIR OCTOMAP_LIBRARY OCTOMATH_LIBRARY OCTOMAP_VERSION)
+    else()
+      set(octomap_FOUND OFF)
+    endif()
   endif()
-  if(OCTOMAP_INCLUDE_DIRS AND OCTOMAP_LIBRARY_DIRS AND OCTOMAP_VERSION)
+
+  if(octomap_FOUND)
     if(NOT OCTOMAP_MAJOR_VERSION AND NOT OCTOMAP_MINOR_VERSION AND NOT OCTOMAP_PATCH_VERSION)
       string(REPLACE "." ";" VERSION_LIST "${OCTOMAP_VERSION}")
       list(GET VERSION_LIST 0 OCTOMAP_MAJOR_VERSION)
       list(GET VERSION_LIST 1 OCTOMAP_MINOR_VERSION)
       list(GET VERSION_LIST 2 OCTOMAP_PATCH_VERSION)
     endif()
-    include_directories(SYSTEM ${OCTOMAP_INCLUDE_DIRS})
-    link_directories(${OCTOMAP_LIBRARY_DIRS})
+
     set(FCL_HAVE_OCTOMAP 1)
-    message(STATUS "FCL uses Octomap")
+    message(STATUS "FCL uses OctoMap")
+    set(PKG_EXTERNAL_DEPS "${PKG_EXTERNAL_DEPS} octomap")
   else()
-    message(STATUS "FCL does not use Octomap")
+    message(STATUS "FCL does not use OctoMap")
   endif()
 else()
-  message(STATUS "FCL does not use Octomap (as requested)")
+  message(STATUS "FCL does not use OctoMap (as requested)")
 endif()
 
 
@@ -188,6 +239,7 @@ add_subdirectory(src)
 
 set(pkg_conf_file_in "${CMAKE_CURRENT_SOURCE_DIR}/fcl.pc.in")
 set(pkg_conf_file_out "${CMAKE_CURRENT_BINARY_DIR}/fcl.pc")
+set(PKG_DESC "Flexible Collision Library")
 if(NOT MSVC)
     set(PKG_CFLAGS "-std=c++11")
 endif()
diff --git a/CMakeModules/CompilerSettings.cmake b/CMakeModules/CompilerSettings.cmake
index c62219e61..b2c0ee6fe 100644
--- a/CMakeModules/CompilerSettings.cmake
+++ b/CMakeModules/CompilerSettings.cmake
@@ -1,6 +1,6 @@
 # GCC
 if(CMAKE_COMPILER_IS_GNUCXX)
-    add_definitions(-std=c++11 -W -Wall -g -Wextra -Wpedantic -Wno-missing-field-initializers -Wno-unused-parameter)
+    add_definitions(-std=c++11 -W -Wall -Wextra -Wpedantic -Wno-unused-parameter)
     if(FCL_TREAT_WARNINGS_AS_ERRORS)
         add_definitions(-Werror)
     endif()
@@ -8,7 +8,7 @@ endif()
 
 # Clang
 if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
-    add_definitions(-std=c++11 -W -Wall -Wextra -Wno-missing-field-initializers -Wno-unused-parameter -Wno-delete-non-virtual-dtor -Wno-overloaded-virtual -Wno-deprecated-register)
+    add_definitions(-std=c++11 -W -Wall -Wextra -Wno-unused-parameter)
     if(FCL_TREAT_WARNINGS_AS_ERRORS)
         add_definitions(-Werror)
     endif()
@@ -20,7 +20,7 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "AppleClang")
     if (CMAKE_CXX_COMPILER_VERSION VERSION_LESS 6.1)
         message(FATAL_ERROR "AppleClang version must be at least 6.1!")
     endif()
-    add_definitions(-std=c++11 -W -Wall -Wextra -Wno-missing-field-initializers -Wno-unused-parameter -Wno-delete-non-virtual-dtor -Wno-overloaded-virtual -Wno-deprecated-register)
+    add_definitions(-std=c++11 -W -Wall -Wextra -Wno-unused-parameter)
     if(FCL_TREAT_WARNINGS_AS_ERRORS)
         add_definitions(-Werror)
     endif()
diff --git a/fcl.pc.in b/fcl.pc.in
index 0986fa9e0..cb5ad784d 100644
--- a/fcl.pc.in
+++ b/fcl.pc.in
@@ -8,5 +8,5 @@ Name: @PROJECT_NAME@
 Description: @PKG_DESC@
 Version: @FCL_VERSION@
 Requires: @PKG_EXTERNAL_DEPS@
-Libs: -L${libdir} -lfcl
+Libs: -L${libdir} -l@PROJECT_NAME@
 Cflags: @PKG_CFLAGS@ -I${includedir}
diff --git a/include/fcl/math/bv/OBB-inl.h b/include/fcl/math/bv/OBB-inl.h
index 7560a79d0..0b9b132bc 100644
--- a/include/fcl/math/bv/OBB-inl.h
+++ b/include/fcl/math/bv/OBB-inl.h
@@ -391,7 +391,7 @@ template <typename S>
 bool obbDisjoint(const Matrix3<S>& B, const Vector3<S>& T,
                  const Vector3<S>& a, const Vector3<S>& b)
 {
-  register S t, s;
+  S t, s;
   const S reps = 1e-6;
 
   Matrix3<S> Bf = B.cwiseAbs();
@@ -521,7 +521,7 @@ bool obbDisjoint(
     const Vector3<S>& a,
     const Vector3<S>& b)
 {
-  register S t, s;
+  S t, s;
   const S reps = 1e-6;
 
   Matrix3<S> Bf = tf.linear().cwiseAbs();
diff --git a/include/fcl/math/motion/taylor_model/taylor_model-inl.h b/include/fcl/math/motion/taylor_model/taylor_model-inl.h
index ed83d09d0..2ebb086e6 100644
--- a/include/fcl/math/motion/taylor_model/taylor_model-inl.h
+++ b/include/fcl/math/motion/taylor_model/taylor_model-inl.h
@@ -275,8 +275,8 @@ template <typename S>
 TaylorModel<S>& TaylorModel<S>::operator *= (const TaylorModel<S>& other)
 {
   assert(other.time_interval_ == time_interval_);
-  register S c0, c1, c2, c3;
-  register S c0b = other.coeffs_[0], c1b = other.coeffs_[1], c2b = other.coeffs_[2], c3b = other.coeffs_[3];
+  S c0, c1, c2, c3;
+  S c0b = other.coeffs_[0], c1b = other.coeffs_[1], c2b = other.coeffs_[2], c3b = other.coeffs_[3];
 
   const Interval<S>& rb = other.r_;
 
@@ -286,7 +286,7 @@ TaylorModel<S>& TaylorModel<S>::operator *= (const TaylorModel<S>& other)
   c3 = coeffs_[0] * c3b + coeffs_[1] * c2b + coeffs_[2] * c1b + coeffs_[3] * c0b;
 
   Interval<S> remainder(r_ * rb);
-  register S tempVal = coeffs_[1] * c3b + coeffs_[2] * c2b + coeffs_[3] * c1b;
+  S tempVal = coeffs_[1] * c3b + coeffs_[2] * c2b + coeffs_[3] * c1b;
   remainder += time_interval_->t4_ * tempVal;
 
   tempVal = coeffs_[2] * c3b + coeffs_[3] * c2b;
@@ -368,12 +368,12 @@ Interval<S> TaylorModel<S>::getTightBound(S t0, S t1) const
 
   if(coeffs_[3] == 0)
   {
-    register S a = -coeffs_[1] / (2 * coeffs_[2]);
+    S a = -coeffs_[1] / (2 * coeffs_[2]);
     Interval<S> polybounds;
     if(a <= t1 && a >= t0)
     {
       S AQ = coeffs_[0] + a * (coeffs_[1] + a * coeffs_[2]);
-      register S t = t0;
+      S t = t0;
       S LQ = coeffs_[0] + t * (coeffs_[1] + t * coeffs_[2]);
       t = t1;
       S RQ = coeffs_[0] + t * (coeffs_[1] + t * coeffs_[2]);
@@ -392,7 +392,7 @@ Interval<S> TaylorModel<S>::getTightBound(S t0, S t1) const
     }
     else
     {
-      register S t = t0;
+      S t = t0;
       S LQ = coeffs_[0] + t * (coeffs_[1] + t * coeffs_[2]);
       t = t1;
       S RQ = coeffs_[0] + t * (coeffs_[1] + t * coeffs_[2]);
@@ -405,7 +405,7 @@ Interval<S> TaylorModel<S>::getTightBound(S t0, S t1) const
   }
   else
   {
-    register S t = t0;
+    S t = t0;
     S LQ = coeffs_[0] + t * (coeffs_[1] + t * (coeffs_[2] + t * coeffs_[3]));
     t = t1;
     S RQ = coeffs_[0] + t * (coeffs_[1] + t * (coeffs_[2] + t * coeffs_[3]));
diff --git a/include/fcl/narrowphase/distance-inl.h b/include/fcl/narrowphase/distance-inl.h
index 1372d279c..e27c1d8c9 100644
--- a/include/fcl/narrowphase/distance-inl.h
+++ b/include/fcl/narrowphase/distance-inl.h
@@ -162,7 +162,7 @@ typename NarrowPhaseSolver::S distance(
     collide(o1, tf1, o2, tf2, nsolver, collision_request, collision_result);
     assert(collision_result.isCollision());
 
-    std::size_t index = -1;
+    std::size_t index = static_cast<std::size_t>(-1);
     S max_pen_depth = std::numeric_limits<S>::min();
     for (auto i = 0u; i < collision_result.numContacts(); ++i)
     {
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 4391a3a9c..db2ef861a 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -12,17 +12,45 @@ set_target_properties(${PROJECT_NAME} PROPERTIES
   VERSION ${FCL_VERSION}
   SOVERSION ${FCL_ABI_VERSION})
 
-target_link_libraries(${PROJECT_NAME}
-  PUBLIC ${OCTOMAP_LIBRARIES}
-  PUBLIC ${CCD_LIBRARIES})
+# Use the IMPORTED target from newer versions of ccd-config.cmake if available,
+# otherwise fall back to CCD_INCLUDE_DIRS and CCD_LIBRARIES
+if(TARGET ccd)
+  target_link_libraries(${PROJECT_NAME} PUBLIC ccd)
+else()
+  target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC "${CCD_INCLUDE_DIRS}")
+  target_link_libraries(${PROJECT_NAME} PUBLIC "${CCD_LIBRARIES}")
+endif()
+
+# Use the IMPORTED target from newer versions of Eigen3Config.cmake if
+# available, otherwise fall back to EIGEN3_INCLUDE_DIRS from older versions of
+# Eigen3Config.cmake or EIGEN3_INCLUDE_DIR from FindEigen3.cmake
+if(TARGET Eigen3::Eigen)
+  # Note that Eigen3::Eigen is an INTERFACE library, so the INCLUDE_DIRECTORIES
+  # and INTERFACE_INCLUDE_DIRECTORIES are populated, but nothing is actually
+  # linked
+  target_link_libraries(${PROJECT_NAME} PUBLIC Eigen3::Eigen)
+elseif(EIGEN3_INCLUDE_DIRS)
+  target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC "${EIGEN3_INCLUDE_DIRS}")
+else()
+  target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC "${EIGEN3_INCLUDE_DIR}")
+endif()
+
+if(FCL_HAVE_OCTOMAP)
+  # Use the IMPORTED target from newer versions of octomap-config.cmake if
+  # available, otherwise fall back to OCTOMAP_INCLUDE_DIRS and OCTOMAP_LIBRARIES
+  if(TARGET octomap)
+    target_link_libraries(${PROJECT_NAME} PUBLIC octomap)
+  elseif(OCTOMAP_INCLUDE_DIRS AND OCTOMAP_LIBRARIES)
+    target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC "${OCTOMAP_INCLUDE_DIRS}")
+    target_link_libraries(${PROJECT_NAME} PUBLIC "${OCTOMAP_LIBRARIES}")
+  endif()
+endif()
 
 target_include_directories(${PROJECT_NAME} INTERFACE
   $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
+  $<BUILD_INTERFACE:${PROJECT_BINARY_DIR}/include>
   $<INSTALL_INTERFACE:include>)
 
-target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
-  ${EIGEN3_INCLUDE_DIR})
-
 export(TARGETS ${PROJECT_NAME}
   FILE "${PROJECT_BINARY_DIR}/${PROJECT_NAME}Config.cmake")