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/** \author Jia Pan */


#ifndef FCL_TRAVERSAL_RECURSE_H
#define FCL_TRAVERSAL_RECURSE_H

#include "fcl/traversal/traversal_node_base.h"
#include "fcl/traversal/traversal_node_bvhs.h"
#include "fcl/BVH/BVH_front.h"
#include <queue>

namespace fcl
{

/// @brief Recurse function for collision
void collisionRecurse(CollisionTraversalNodeBase* node, int b1, int b2, BVHFrontList* front_list);

/// @brief Recurse function for collision, specialized for OBB type
void collisionRecurse(MeshCollisionTraversalNodeOBB* node, int b1, int b2, const Matrix3f& R, const Vec3f& T, BVHFrontList* front_list);

/// @brief Recurse function for collision, specialized for RSS type
void collisionRecurse(MeshCollisionTraversalNodeRSS* node, int b1, int b2, const Matrix3f& R, const Vec3f& T, BVHFrontList* front_list);

/// @brief Recurse function for self collision. Make sure node is set correctly so that the first and second tree are the same
void selfCollisionRecurse(CollisionTraversalNodeBase* node, int b, BVHFrontList* front_list);

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

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

/// @brief Recurse function for front list propagation
void propagateBVHFrontListCollisionRecurse(CollisionTraversalNodeBase* node, BVHFrontList* front_list);


}

#endif
