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, unsigned int b1,
                      unsigned int b2, BVHFrontList* front_list,
                      FCL_REAL& sqrDistLowerBound);

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

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

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

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

}  // namespace fcl

}  // namespace hpp


#endif