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/** \author Jia Pan */

#ifndef HPP_FCL_TRAVERSAL_RECURSE_H
#define HPP_FCL_TRAVERSAL_RECURSE_H

/// @cond INTERNAL

#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
{

/// Recurse function for collision
/// @param node collision node,
/// @param b1, b2 ids of bounding volume nodes for object 1 and object 2
/// @retval sqrDistLowerBound squared lower bound on distance between objects.
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);

/// @brief Recurse function for distance
void distanceRecurse(DistanceTraversalNodeBase* node, unsigned int b1, unsigned int b2, BVHFrontList* front_list);

/// @brief Recurse function for distance, using queue acceleration
void distanceQueueRecurse(DistanceTraversalNodeBase* node, unsigned int b1, unsigned int b2, BVHFrontList* front_list, unsigned int qsize);

/// @brief Recurse function for front list propagation
void propagateBVHFrontListCollisionRecurse
  (CollisionTraversalNodeBase* node, const CollisionRequest& request,
   CollisionResult& result, BVHFrontList* front_list);

}

} // namespace hpp

/// @endcond

#endif
