traversal_recurse.h

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#ifndef HPP_FCL_TRAVERSAL_RECURSE_H
#define HPP_FCL_TRAVERSAL_RECURSE_H


#include <hpp/fcl/BVH/BVH_front.h>
#include <queue>
#include <hpp/fcl/internal/traversal_node_base.h>
#include <hpp/fcl/internal/traversal_node_bvhs.h>

namespace hpp
{
namespace fcl
{

void collisionRecurse(CollisionTraversalNodeBase* node, int b1, int b2,
              BVHFrontList* front_list, FCL_REAL& sqrDistLowerBound);

void collisionNonRecurse(CollisionTraversalNodeBase* node,
                 BVHFrontList* front_list, FCL_REAL& sqrDistLowerBound);

void distanceRecurse(DistanceTraversalNodeBase* node, int b1, int b2, BVHFrontList* front_list);

void distanceQueueRecurse(DistanceTraversalNodeBase* node, int b1, int b2, BVHFrontList* front_list, int qsize);

void propagateBVHFrontListCollisionRecurse
  (CollisionTraversalNodeBase* node, const CollisionRequest& request,
   CollisionResult& result, BVHFrontList* front_list);

}

} // namespace hpp


#endif