collision_node.h

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#ifndef FCL_COLLISION_NODE_H
#define FCL_COLLISION_NODE_H

#include "fcl/geometry/bvh/detail/BVH_front.h"
#include "fcl/narrowphase/detail/traversal/traversal_recurse.h"
#include "fcl/narrowphase/detail/traversal/collision/collision_traversal_node_base.h"
#include "fcl/narrowphase/detail/traversal/collision/mesh_collision_traversal_node.h"
#include "fcl/narrowphase/detail/traversal/distance/distance_traversal_node_base.h"

namespace fcl
{

namespace detail
{

template <typename S>
FCL_EXPORT
void collide(CollisionTraversalNodeBase<S>* node, BVHFrontList* front_list = nullptr);

template <typename S>
FCL_EXPORT
void selfCollide(CollisionTraversalNodeBase<S>* node, BVHFrontList* front_list = nullptr);

template <typename S>
FCL_EXPORT
void distance(DistanceTraversalNodeBase<S>* node, BVHFrontList* front_list = nullptr, int qsize = 2);

template <typename S>
FCL_EXPORT
void collide2(MeshCollisionTraversalNodeOBB<S>* node, BVHFrontList* front_list = nullptr);

template <typename S>
FCL_EXPORT
void collide2(MeshCollisionTraversalNodeRSS<S>* node, BVHFrontList* front_list = nullptr);

} // namespace detail
} // namespace fcl

#include "fcl/narrowphase/detail/traversal/collision_node-inl.h"

#endif