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/** \author Jia Pan */


#ifndef FCL_TRAVERSAL_NODE_MESH_SHAPE_H
#define FCL_TRAVERSAL_NODE_MESH_SHAPE_H

#include "fcl/collision_data.h"
#include "fcl/shape/geometric_shapes.h"
#include "fcl/shape/geometric_shapes_utility.h"
#include "fcl/traversal/traversal_node_base.h"
#include "fcl/BVH/BVH_model.h"


namespace fcl
{

/// @brief Traversal node for collision between BVH and shape
template<typename BV, typename S>
class BVHShapeCollisionTraversalNode : public CollisionTraversalNodeBase
{
public:
  BVHShapeCollisionTraversalNode() : CollisionTraversalNodeBase()
  {
    model1 = NULL;
    model2 = NULL;

    num_bv_tests = 0;
    num_leaf_tests = 0;
    query_time_seconds = 0.0;
  }

  /// @brief Whether the BV node in the first BVH tree is leaf
  bool isFirstNodeLeaf(int b) const
  {
    return model1->getBV(b).isLeaf();
  }

  /// @brief Obtain the left child of BV node in the first BVH
  int getFirstLeftChild(int b) const
  {
    return model1->getBV(b).leftChild();
  }

  /// @brief Obtain the right child of BV node in the first BVH
  int getFirstRightChild(int b) const
  {
    return model1->getBV(b).rightChild();
  }

  /// @brief BV culling test in one BVTT node
  bool BVTesting(int b1, int b2) const
  {
    if(this->enable_statistics) num_bv_tests++;
    return !model1->getBV(b1).bv.overlap(model2_bv);
  }

  const BVHModel<BV>* model1;
  const S* model2;
  BV model2_bv;

  mutable int num_bv_tests;
  mutable int num_leaf_tests;
  mutable FCL_REAL query_time_seconds;
};

/// @brief Traversal node for collision between shape and BVH
template<typename S, typename BV>
class ShapeBVHCollisionTraversalNode : public CollisionTraversalNodeBase
{
public:
  ShapeBVHCollisionTraversalNode() : CollisionTraversalNodeBase()
  {
    model1 = NULL;
    model2 = NULL;

    num_bv_tests = 0;
    num_leaf_tests = 0;
    query_time_seconds = 0.0;
  }

  /// @brief Alway extend the second model, which is a BVH model
  bool firstOverSecond(int, int) const
  {
    return false;
  }

  /// @brief Whether the BV node in the second BVH tree is leaf
  bool isSecondNodeLeaf(int b) const
  {
    return model2->getBV(b).isLeaf();
  }

  /// @brief Obtain the left child of BV node in the second BVH
  int getSecondLeftChild(int b) const
  {
    return model2->getBV(b).leftChild();
  }

  /// @brief Obtain the right child of BV node in the second BVH
  int getSecondRightChild(int b) const
  {
    return model2->getBV(b).rightChild();
  }

  /// @brief BV culling test in one BVTT node
  bool BVTesting(int b1, int b2) const
  {
    if(this->enable_statistics) num_bv_tests++;
    return !model2->getBV(b2).bv.overlap(model1_bv);
  }

  const S* model1;
  const BVHModel<BV>* model2;
  BV model1_bv;

  mutable int num_bv_tests;
  mutable int num_leaf_tests;
  mutable FCL_REAL query_time_seconds;
};


/// @brief Traversal node for collision between mesh and shape
template<typename BV, typename S, typename NarrowPhaseSolver>
class MeshShapeCollisionTraversalNode : public BVHShapeCollisionTraversalNode<BV, S>
{
public:
  MeshShapeCollisionTraversalNode() : BVHShapeCollisionTraversalNode<BV, S>()
  {
    vertices = NULL;
    tri_indices = NULL;

    nsolver = NULL;
  }

  /// @brief Intersection testing between leaves (one triangle and one shape)
  void leafTesting(int b1, int b2) const
  {
    if(this->enable_statistics) this->num_leaf_tests++;
    const BVNode<BV>& node = this->model1->getBV(b1);

    int primitive_id = node.primitiveId();

    const Triangle& tri_id = tri_indices[primitive_id];

    const Vec3f& p1 = vertices[tri_id[0]];
    const Vec3f& p2 = vertices[tri_id[1]];
    const Vec3f& p3 = vertices[tri_id[2]];

    if(this->model1->isOccupied() && this->model2->isOccupied())
    {
      bool is_intersect = false;

      if(!this->request.enable_contact)
      {
        if(nsolver->shapeTriangleIntersect(*(this->model2), this->tf2, p1, p2, p3, NULL, NULL, NULL))
        {
          is_intersect = true;
          if(this->request.num_max_contacts > this->result->numContacts())
            this->result->addContact(Contact(this->model1, this->model2, primitive_id, Contact::NONE));
        }
      }
      else
      {
        FCL_REAL penetration;
        Vec3f normal;
        Vec3f contactp;

        if(nsolver->shapeTriangleIntersect(*(this->model2), this->tf2, p1, p2, p3, &contactp, &penetration, &normal))
        {
          is_intersect = true;
          if(this->request.num_max_contacts > this->result->numContacts())
            this->result->addContact(Contact(this->model1, this->model2, primitive_id, Contact::NONE, contactp, -normal, penetration));
        }
      }

      if(is_intersect && this->request.enable_cost)
      {
        AABB overlap_part;
        AABB shape_aabb;
        computeBV<AABB, S>(*(this->model2), this->tf2, shape_aabb);
        AABB(p1, p2, p3).overlap(shape_aabb, overlap_part);
        this->result->addCostSource(CostSource(overlap_part, cost_density), this->request.num_max_cost_sources);
      }
    }
    if((!this->model1->isFree() && !this->model2->isFree()) && this->request.enable_cost)
    {
      if(nsolver->shapeTriangleIntersect(*(this->model2), this->tf2, p1, p2, p3, NULL, NULL, NULL))
      {
        AABB overlap_part;
        AABB shape_aabb;
        computeBV<AABB, S>(*(this->model2), this->tf2, shape_aabb);
        AABB(p1, p2, p3).overlap(shape_aabb, overlap_part);
        this->result->addCostSource(CostSource(overlap_part, cost_density), this->request.num_max_cost_sources);        
      }
    }
  }

  /// @brief Whether the traversal process can stop early
  bool canStop() const
  {
    return this->request.isSatisfied(*(this->result));
  }

  Vec3f* vertices;
  Triangle* tri_indices;
  
  FCL_REAL cost_density;

  const NarrowPhaseSolver* nsolver;
};

/// @cond IGNORE
namespace details
{
template<typename BV, typename S, typename NarrowPhaseSolver>
static inline void meshShapeCollisionOrientedNodeLeafTesting(int b1, int b2,
                                                             const BVHModel<BV>* model1, const S& model2,
                                                             Vec3f* vertices, Triangle* tri_indices,
                                                             const Transform3f& tf1,
                                                             const Transform3f& tf2, 
                                                             const NarrowPhaseSolver* nsolver,
                                                             bool enable_statistics, 
                                                             FCL_REAL cost_density,
                                                             int& num_leaf_tests,
                                                             const CollisionRequest& request,
                                                             CollisionResult& result)
{
  if(enable_statistics) num_leaf_tests++;
  const BVNode<BV>& node = model1->getBV(b1);

  int primitive_id = node.primitiveId();

  const Triangle& tri_id = tri_indices[primitive_id];

  const Vec3f& p1 = vertices[tri_id[0]];
  const Vec3f& p2 = vertices[tri_id[1]];
  const Vec3f& p3 = vertices[tri_id[2]];

  if(model1->isOccupied() && model2.isOccupied())
  {
    bool is_intersect = false;

    if(!request.enable_contact) // only interested in collision or not
    {
      if(nsolver->shapeTriangleIntersect(model2, tf2, p1, p2, p3, tf1, NULL, NULL, NULL))
      {
        is_intersect = true;
        if(request.num_max_contacts > result.numContacts())
          result.addContact(Contact(model1, &model2, primitive_id, Contact::NONE));
      }
    }
    else
    {
      FCL_REAL penetration;
      Vec3f normal;
      Vec3f contactp;

      if(nsolver->shapeTriangleIntersect(model2, tf2, p1, p2, p3, tf1, &contactp, &penetration, &normal))
      {
        is_intersect = true;
        if(request.num_max_contacts > result.numContacts())
          result.addContact(Contact(model1, &model2, primitive_id, Contact::NONE, contactp, -normal, penetration));
      }
    }

    if(is_intersect && request.enable_cost)
    {
      AABB overlap_part;
      AABB shape_aabb;
      computeBV<AABB, S>(model2, tf2, shape_aabb);
      /* bool res = */ AABB(tf1.transform(p1), tf1.transform(p2), tf1.transform(p3)).overlap(shape_aabb, overlap_part);
      result.addCostSource(CostSource(overlap_part, cost_density), request.num_max_cost_sources);
    }
  }
  else if((!model1->isFree() || model2.isFree()) && request.enable_cost)
  {
    if(nsolver->shapeTriangleIntersect(model2, tf2, p1, p2, p3, tf1, NULL, NULL, NULL))
    {
      AABB overlap_part;
      AABB shape_aabb;
      computeBV<AABB, S>(model2, tf2, shape_aabb);
      /* bool res = */ AABB(tf1.transform(p1), tf1.transform(p2), tf1.transform(p3)).overlap(shape_aabb, overlap_part);
      result.addCostSource(CostSource(overlap_part, cost_density), request.num_max_cost_sources);    
    }
  }
}

}

/// @endcond


/// @brief Traversal node for mesh and shape, when mesh BVH is one of the oriented node (OBB, RSS, OBBRSS, kIOS)
template<typename S, typename NarrowPhaseSolver>
class MeshShapeCollisionTraversalNodeOBB : public MeshShapeCollisionTraversalNode<OBB, S, NarrowPhaseSolver>
{
public:
  MeshShapeCollisionTraversalNodeOBB() : MeshShapeCollisionTraversalNode<OBB, S, NarrowPhaseSolver>()
  {
  }

  bool BVTesting(int b1, int b2) const
  {
    if(this->enable_statistics) this->num_bv_tests++;
    return !overlap(this->tf1.getRotation(), this->tf1.getTranslation(), this->model2_bv, this->model1->getBV(b1).bv);
  }

  void leafTesting(int b1, int b2) const
  {
    details::meshShapeCollisionOrientedNodeLeafTesting(b1, b2, this->model1, *(this->model2), this->vertices, this->tri_indices,
                                                       this->tf1, this->tf2, this->nsolver, this->enable_statistics, this->cost_density, this->num_leaf_tests, this->request, *(this->result));
  }

};

template<typename S, typename NarrowPhaseSolver>
class MeshShapeCollisionTraversalNodeRSS : public MeshShapeCollisionTraversalNode<RSS, S, NarrowPhaseSolver>
{
public:
  MeshShapeCollisionTraversalNodeRSS() : MeshShapeCollisionTraversalNode<RSS, S, NarrowPhaseSolver>()
  {
  }

  bool BVTesting(int b1, int b2) const
  {
    if(this->enable_statistics) this->num_bv_tests++;
    return !overlap(this->tf1.getRotation(), this->tf1.getTranslation(), this->model2_bv, this->model1->getBV(b1).bv);
  }

  void leafTesting(int b1, int b2) const
  {
    details::meshShapeCollisionOrientedNodeLeafTesting(b1, b2, this->model1, *(this->model2), this->vertices, this->tri_indices,
                                                       this->tf1, this->tf2, this->nsolver, this->enable_statistics, this->cost_density, this->num_leaf_tests, this->request, *(this->result));
  }

};

template<typename S, typename NarrowPhaseSolver>
class MeshShapeCollisionTraversalNodekIOS : public MeshShapeCollisionTraversalNode<kIOS, S, NarrowPhaseSolver>
{
public:
  MeshShapeCollisionTraversalNodekIOS() : MeshShapeCollisionTraversalNode<kIOS, S, NarrowPhaseSolver>()
  {
  }

  bool BVTesting(int b1, int b2) const
  {
    if(this->enable_statistics) this->num_bv_tests++;
    return !overlap(this->tf1.getRotation(), this->tf1.getTranslation(), this->model2_bv, this->model1->getBV(b1).bv);
  }

  void leafTesting(int b1, int b2) const
  {
    details::meshShapeCollisionOrientedNodeLeafTesting(b1, b2, this->model1, *(this->model2), this->vertices, this->tri_indices,
                                                       this->tf1, this->tf2, this->nsolver, this->enable_statistics, this->cost_density, this->num_leaf_tests, this->request, *(this->result));
  }

};

template<typename S, typename NarrowPhaseSolver>
class MeshShapeCollisionTraversalNodeOBBRSS : public MeshShapeCollisionTraversalNode<OBBRSS, S, NarrowPhaseSolver>
{
public:
  MeshShapeCollisionTraversalNodeOBBRSS() : MeshShapeCollisionTraversalNode<OBBRSS, S, NarrowPhaseSolver>()
  {
  }

  bool BVTesting(int b1, int b2) const
  {
    if(this->enable_statistics) this->num_bv_tests++;
    return !overlap(this->tf1.getRotation(), this->tf1.getTranslation(), this->model2_bv, this->model1->getBV(b1).bv);
  }

  void leafTesting(int b1, int b2) const
  {
    details::meshShapeCollisionOrientedNodeLeafTesting(b1, b2, this->model1, *(this->model2), this->vertices, this->tri_indices,
                                                       this->tf1, this->tf2, this->nsolver, this->enable_statistics, this->cost_density, this->num_leaf_tests, this->request, *(this->result));
  }

};


/// @brief Traversal node for collision between shape and mesh
template<typename S, typename BV, typename NarrowPhaseSolver>
class ShapeMeshCollisionTraversalNode : public ShapeBVHCollisionTraversalNode<S, BV>
{
public:
  ShapeMeshCollisionTraversalNode() : ShapeBVHCollisionTraversalNode<S, BV>()
  {
    vertices = NULL;
    tri_indices = NULL;

    nsolver = NULL;
  }

  /// @brief Intersection testing between leaves (one shape and one triangle)
  void leafTesting(int b1, int b2) const
  {
    if(this->enable_statistics) this->num_leaf_tests++;
    const BVNode<BV>& node = this->model2->getBV(b2);

    int primitive_id = node.primitiveId();

    const Triangle& tri_id = tri_indices[primitive_id];

    const Vec3f& p1 = vertices[tri_id[0]];
    const Vec3f& p2 = vertices[tri_id[1]];
    const Vec3f& p3 = vertices[tri_id[2]];

    if(this->model1->isOccupied() && this->model2->isOccupied())
    {
      bool is_intersect = false;

      if(!this->request.enable_contact)
      {
        if(nsolver->shapeTriangleIntersect(*(this->model1), this->tf1, p1, p2, p3, NULL, NULL, NULL))
        {
          is_intersect = true;
          if(this->request.num_max_contacts > this->result->numContacts())
            this->result->addContact(Contact(this->model1, this->model2, Contact::NONE, primitive_id));
        }
      }
      else
      {
        FCL_REAL penetration;
        Vec3f normal;
        Vec3f contactp;

        if(nsolver->shapeTriangleIntersect(*(this->model1), this->tf1, p1, p2, p3, &contactp, &penetration, &normal))
        {
          is_intersect = true;
          if(this->request.num_max_contacts > this->result->numContacts())
            this->result->addContact(Contact(this->model1, this->model2, Contact::NONE, primitive_id, contactp, normal, penetration));
        }
      }

      if(is_intersect && this->request.enable_cost)
      {
        AABB overlap_part;
        AABB shape_aabb;
        computeBV<AABB, S>(*(this->model1), this->tf1, shape_aabb);
        AABB(p1, p2, p3).overlap(shape_aabb, overlap_part);
        this->result->addCostSource(CostSource(overlap_part, cost_density), this->request.num_max_cost_sources);
      }
    }
    else if((!this->model1->isFree() && !this->model2->isFree()) && this->request.enable_cost)
    {
      if(nsolver->shapeTriangleIntersect(*(this->model1), this->tf1, p1, p2, p3, NULL, NULL, NULL))
      {
        AABB overlap_part;
        AABB shape_aabb;
        computeBV<AABB, S>(*(this->model1), this->tf1, shape_aabb);
        AABB(p1, p2, p3).overlap(shape_aabb, overlap_part);
        this->result->addCostSource(CostSource(overlap_part, cost_density), this->request.num_max_cost_sources);
      }   
    }
  }

  /// @brief Whether the traversal process can stop early
  bool canStop() const
  {
    return this->request.isSatisfied(*(this->result));
  }

  Vec3f* vertices;
  Triangle* tri_indices;

  FCL_REAL cost_density;

  const NarrowPhaseSolver* nsolver;
};

/// @brief Traversal node for shape and mesh, when mesh BVH is one of the oriented node (OBB, RSS, OBBRSS, kIOS)
template<typename S, typename NarrowPhaseSolver>
class ShapeMeshCollisionTraversalNodeOBB : public ShapeMeshCollisionTraversalNode<S, OBB, NarrowPhaseSolver>
{
public:
  ShapeMeshCollisionTraversalNodeOBB() : ShapeMeshCollisionTraversalNode<S, OBB, NarrowPhaseSolver>()
  {
  }

  bool BVTesting(int b1, int b2) const
  {
    if(this->enable_statistics) this->num_bv_tests++;
    return !overlap(this->tf2.getRotation(), this->tf2.getTranslation(), this->model1_bv, this->model2->getBV(b2).bv);
  }

  void leafTesting(int b1, int b2) const
  {
    details::meshShapeCollisionOrientedNodeLeafTesting(b2, b1, *(this->model2), this->model1, this->vertices, this->tri_indices, 
                                                       this->tf2, this->tf1, this->nsolver, this->enable_statistics, this->cost_density, this->num_leaf_tests, this->request, *(this->request));

    // may need to change the order in pairs
  }
};


template<typename S, typename NarrowPhaseSolver>
class ShapeMeshCollisionTraversalNodeRSS : public ShapeMeshCollisionTraversalNode<S, RSS, NarrowPhaseSolver>
{
public:
  ShapeMeshCollisionTraversalNodeRSS() : ShapeMeshCollisionTraversalNode<S, RSS, NarrowPhaseSolver>()
  {
  }

  bool BVTesting(int b1, int b2) const
  {
    if(this->enable_statistics) this->num_bv_tests++;
    return !overlap(this->tf2.getRotation(), this->tf2.getTranslation(), this->model1_bv, this->model2->getBV(b2).bv);
  }

  void leafTesting(int b1, int b2) const
  {
    details::meshShapeCollisionOrientedNodeLeafTesting(b2, b1, *(this->model2), this->model1, this->vertices, this->tri_indices, 
                                                       this->tf2, this->tf1, this->nsolver, this->enable_statistics, this->cost_density, this->num_leaf_tests, this->request, *(this->request));

    // may need to change the order in pairs
  }

};


template<typename S, typename NarrowPhaseSolver>
class ShapeMeshCollisionTraversalNodekIOS : public ShapeMeshCollisionTraversalNode<S, kIOS, NarrowPhaseSolver>
{
public:
  ShapeMeshCollisionTraversalNodekIOS() : ShapeMeshCollisionTraversalNode<S, kIOS, NarrowPhaseSolver>()
  {
  }

  bool BVTesting(int b1, int b2) const
  {
    if(this->enable_statistics) this->num_bv_tests++;
    return !overlap(this->tf2.getRotation(), this->tf2.getTranslation(), this->model1_bv, this->model2->getBV(b2).bv);
  }

  void leafTesting(int b1, int b2) const
  {
    details::meshShapeCollisionOrientedNodeLeafTesting(b2, b1, *(this->model2), this->model1, this->vertices, this->tri_indices, 
                                                       this->tf2, this->tf1, this->nsolver, this->enable_statistics, this->cost_density, this->num_leaf_tests, this->request, *(this->request));

    // may need to change the order in pairs
  }

};


template<typename S, typename NarrowPhaseSolver>
class ShapeMeshCollisionTraversalNodeOBBRSS : public ShapeMeshCollisionTraversalNode<S, OBBRSS, NarrowPhaseSolver>
{
public:
  ShapeMeshCollisionTraversalNodeOBBRSS() : ShapeMeshCollisionTraversalNode<S, OBBRSS, NarrowPhaseSolver>()
  {
  }

  bool BVTesting(int b1, int b2) const
  {
    if(this->enable_statistics) this->num_bv_tests++;
    return !overlap(this->tf2.getRotation(), this->tf2.getTranslation(), this->model1_bv, this->model2->getBV(b2).bv);
  }

  void leafTesting(int b1, int b2) const
  {
    details::meshShapeCollisionOrientedNodeLeafTesting(b2, b1, *(this->model2), this->model1, this->vertices, this->tri_indices, 
                                                       this->tf2, this->tf1, this->nsolver, this->enable_statistics, this->cost_density, this->num_leaf_tests, this->request, *(this->request));

    // may need to change the order in pairs
  }

};

/// @brief Traversal node for distance computation between BVH and shape
template<typename BV, typename S>
class BVHShapeDistanceTraversalNode : public DistanceTraversalNodeBase
{
public:
  BVHShapeDistanceTraversalNode() : DistanceTraversalNodeBase()
  {
    model1 = NULL;
    model2 = NULL;
    
    num_bv_tests = 0;
    num_leaf_tests = 0;
    query_time_seconds = 0.0;
  }

  /// @brief Whether the BV node in the first BVH tree is leaf
  bool isFirstNodeLeaf(int b) const 
  {
    return model1->getBV(b).isLeaf();
  }

  /// @brief Obtain the left child of BV node in the first BVH
  int getFirstLeftChild(int b) const
  {
    return model1->getBV(b).leftChild();
  }

  /// @brief Obtain the right child of BV node in the first BVH
  int getFirstRightChild(int b) const
  {
    return model1->getBV(b).rightChild();
  }

  /// @brief BV culling test in one BVTT node
  FCL_REAL BVTesting(int b1, int b2) const
  {
    return model1->getBV(b1).bv.distance(model2_bv);
  }

  const BVHModel<BV>* model1;
  const S* model2;
  BV model2_bv;

  mutable int num_bv_tests;
  mutable int num_leaf_tests;
  mutable FCL_REAL query_time_seconds;
};

/// @brief Traversal node for distance computation between shape and BVH
template<typename S, typename BV>
class ShapeBVHDistanceTraversalNode : public DistanceTraversalNodeBase
{
public:
  ShapeBVHDistanceTraversalNode() : DistanceTraversalNodeBase()
  {
    model1 = NULL;
    model2 = NULL;
    
    num_bv_tests = 0;
    num_leaf_tests = 0;
    query_time_seconds = 0.0;
  }

  /// @brief Whether the BV node in the second BVH tree is leaf
  bool isSecondNodeLeaf(int b) const
  {
    return model2->getBV(b).isLeaf();
  }

  /// @brief Obtain the left child of BV node in the second BVH
  int getSecondLeftChild(int b) const
  {
    return model2->getBV(b).leftChild();
  }

  /// @brief Obtain the right child of BV node in the second BVH
  int getSecondRightChild(int b) const
  {
    return model2->getBV(b).rightChild();
  }

  /// @brief BV culling test in one BVTT node
  FCL_REAL BVTesting(int b1, int b2) const
  {
    return model1_bv.distance(model2->getBV(b2).bv);
  }

  const S* model1;
  const BVHModel<BV>* model2;
  BV model1_bv;
  
  mutable int num_bv_tests;
  mutable int num_leaf_tests;
  mutable FCL_REAL query_time_seconds;
};
                                  

/// @brief Traversal node for distance between mesh and shape
template<typename BV, typename S, typename NarrowPhaseSolver>
class MeshShapeDistanceTraversalNode : public BVHShapeDistanceTraversalNode<BV, S>
{ 
public:
  MeshShapeDistanceTraversalNode() : BVHShapeDistanceTraversalNode<BV, S>()
  {
    vertices = NULL;
    tri_indices = NULL;

    rel_err = 0;
    abs_err = 0;

    nsolver = NULL;
  }

  /// @brief Distance testing between leaves (one triangle and one shape)
  void leafTesting(int b1, int b2) const
  {
    if(this->enable_statistics) this->num_leaf_tests++;
    
    const BVNode<BV>& node = this->model1->getBV(b1);
    
    int primitive_id = node.primitiveId();
    
    const Triangle& tri_id = tri_indices[primitive_id];

    const Vec3f& p1 = vertices[tri_id[0]];
    const Vec3f& p2 = vertices[tri_id[1]];
    const Vec3f& p3 = vertices[tri_id[2]];
    
    FCL_REAL d;
    Vec3f closest_p1, closest_p2;
    nsolver->shapeTriangleDistance(*(this->model2), this->tf2, p1, p2, p3, &d, &closest_p2, &closest_p1);

    this->result->update(d, this->model1, this->model2, primitive_id, DistanceResult::NONE, closest_p1, closest_p2);
  }

  /// @brief Whether the traversal process can stop early
  bool canStop(FCL_REAL c) const
  {
    if((c >= this->result->min_distance - abs_err) && (c * (1 + rel_err) >= this->result->min_distance))
      return true;
    return false;
  }

  Vec3f* vertices;
  Triangle* tri_indices;

  FCL_REAL rel_err;
  FCL_REAL abs_err;
    
  const NarrowPhaseSolver* nsolver;
};

/// @cond IGNORE
namespace details
{

template<typename BV, typename S, typename NarrowPhaseSolver>
void meshShapeDistanceOrientedNodeLeafTesting(int b1, int /* b2 */,
                                              const BVHModel<BV>* model1, const S& model2,
                                              Vec3f* vertices, Triangle* tri_indices,
                                              const Transform3f& tf1,
                                              const Transform3f& tf2,
                                              const NarrowPhaseSolver* nsolver,
                                              bool enable_statistics,
                                              int & num_leaf_tests,
                                              const DistanceRequest& /* request */,
                                              DistanceResult& result)
{
  if(enable_statistics) num_leaf_tests++;
    
  const BVNode<BV>& node = model1->getBV(b1);
  int primitive_id = node.primitiveId();

  const Triangle& tri_id = tri_indices[primitive_id];
  const Vec3f& p1 = vertices[tri_id[0]];
  const Vec3f& p2 = vertices[tri_id[1]];
  const Vec3f& p3 = vertices[tri_id[2]];
    
  FCL_REAL distance;
  Vec3f closest_p1, closest_p2;
  nsolver->shapeTriangleDistance(model2, tf2, p1, p2, p3, tf1, &distance, &closest_p2, &closest_p1);

  result.update(distance, model1, &model2, primitive_id, DistanceResult::NONE, closest_p1, closest_p2);
}


template<typename BV, typename S, typename NarrowPhaseSolver>
static inline void distancePreprocessOrientedNode(const BVHModel<BV>* model1,
                                                  Vec3f* vertices, Triangle* tri_indices, int init_tri_id,
                                                  const S& model2, const Transform3f& tf1, const Transform3f& tf2,
                                                  const NarrowPhaseSolver* nsolver,
                                                  const DistanceRequest& /* request */,
                                                  DistanceResult& result)
{
  const Triangle& init_tri = tri_indices[init_tri_id];
  
  const Vec3f& p1 = vertices[init_tri[0]];
  const Vec3f& p2 = vertices[init_tri[1]];
  const Vec3f& p3 = vertices[init_tri[2]];
  
  FCL_REAL distance;
  Vec3f closest_p1, closest_p2;
  nsolver->shapeTriangleDistance(model2, tf2, p1, p2, p3, tf1, &distance, &closest_p2, &closest_p1);

  result.update(distance, model1, &model2, init_tri_id, DistanceResult::NONE, closest_p1, closest_p2);
}


}

/// @endcond



/// @brief Traversal node for distance between mesh and shape, when mesh BVH is one of the oriented node (RSS, OBBRSS, kIOS)
template<typename S, typename NarrowPhaseSolver>
class MeshShapeDistanceTraversalNodeRSS : public MeshShapeDistanceTraversalNode<RSS, S, NarrowPhaseSolver>
{
public:
  MeshShapeDistanceTraversalNodeRSS() : MeshShapeDistanceTraversalNode<RSS, S, NarrowPhaseSolver>()
  {
  }

  void preprocess()
  {
    details::distancePreprocessOrientedNode(this->model1, this->vertices, this->tri_indices, 0, 
                                            *(this->model2), this->tf1, this->tf2, this->nsolver, this->request, *(this->result));
  }

  void postprocess()
  {
  }

  FCL_REAL BVTesting(int b1, int b2) const
  {
    if(this->enable_statistics) this->num_bv_tests++;
    return distance(this->tf1.getRotation(), this->tf1.getTranslation(), this->model2_bv, this->model1->getBV(b1).bv);
  }

  void leafTesting(int b1, int b2) const
  {
    details::meshShapeDistanceOrientedNodeLeafTesting(b1, b2, this->model1, *(this->model2), this->vertices, this->tri_indices,
                                                      this->tf1, this->tf2, this->nsolver, this->enable_statistics, this->num_leaf_tests, this->request, *(this->result));
  }
};


template<typename S, typename NarrowPhaseSolver>
class MeshShapeDistanceTraversalNodekIOS : public MeshShapeDistanceTraversalNode<kIOS, S, NarrowPhaseSolver>
{
public:
  MeshShapeDistanceTraversalNodekIOS() : MeshShapeDistanceTraversalNode<kIOS, S, NarrowPhaseSolver>()
  {
  }

  void preprocess()
  {
    details::distancePreprocessOrientedNode(this->model1, this->vertices, this->tri_indices, 0, 
                                            *(this->model2), this->tf1, this->tf2, this->nsolver, this->request, *(this->result));
  }

  void postprocess()
  {    
  }

  FCL_REAL BVTesting(int b1, int b2) const
  {
    if(this->enable_statistics) this->num_bv_tests++;
    return distance(this->tf1.getRotation(), this->tf1.getTranslation(), this->model2_bv, this->model1->getBV(b1).bv);
  }

  void leafTesting(int b1, int b2) const
  {
    details::meshShapeDistanceOrientedNodeLeafTesting(b1, b2, this->model1, *(this->model2), this->vertices, this->tri_indices,
                                                      this->tf1, this->tf2, this->nsolver, this->enable_statistics, this->num_leaf_tests, this->request, *(this->result));
  }

};

template<typename S, typename NarrowPhaseSolver>
class MeshShapeDistanceTraversalNodeOBBRSS : public MeshShapeDistanceTraversalNode<OBBRSS, S, NarrowPhaseSolver>
{
public:
  MeshShapeDistanceTraversalNodeOBBRSS() : MeshShapeDistanceTraversalNode<OBBRSS, S, NarrowPhaseSolver>()
  {
  }

  void preprocess()
  {
    details::distancePreprocessOrientedNode(this->model1, this->vertices, this->tri_indices, 0, 
                                            *(this->model2), this->tf1, this->tf2, this->nsolver, this->request, *(this->result));
  }

  void postprocess()
  {
    
  }

  FCL_REAL BVTesting(int b1, int b2) const
  {
    if(this->enable_statistics) this->num_bv_tests++;
    return distance(this->tf1.getRotation(), this->tf1.getTranslation(), this->model2_bv, this->model1->getBV(b1).bv);
  }

  void leafTesting(int b1, int b2) const
  {
    details::meshShapeDistanceOrientedNodeLeafTesting(b1, b2, this->model1, *(this->model2), this->vertices, this->tri_indices,
                                                      this->tf1, this->tf2, this->nsolver, this->enable_statistics, this->num_leaf_tests, this->request, *(this->result));
  }
  
};

/// @brief Traversal node for distance between shape and mesh
template<typename S, typename BV, typename NarrowPhaseSolver>
class ShapeMeshDistanceTraversalNode : public ShapeBVHDistanceTraversalNode<S, BV>
{ 
public:
  ShapeMeshDistanceTraversalNode() : ShapeBVHDistanceTraversalNode<S, BV>()
  {
    vertices = NULL;
    tri_indices = NULL;

    rel_err = 0;
    abs_err = 0;

    nsolver = NULL;
  }

  /// @brief Distance testing between leaves (one shape and one triangle)
  void leafTesting(int b1, int b2) const
  {
    if(this->enable_statistics) this->num_leaf_tests++;
    
    const BVNode<BV>& node = this->model2->getBV(b2);
    
    int primitive_id = node.primitiveId();
    
    const Triangle& tri_id = tri_indices[primitive_id];

    const Vec3f& p1 = vertices[tri_id[0]];
    const Vec3f& p2 = vertices[tri_id[1]];
    const Vec3f& p3 = vertices[tri_id[2]];
    
    FCL_REAL distance;
    Vec3f closest_p1, closest_p2;
    nsolver->shapeTriangleDistance(*(this->model1), this->tf1, p1, p2, p3, &distance, &closest_p1, &closest_p2);

    this->result->update(distance, this->model1, this->model2, DistanceResult::NONE, primitive_id, closest_p1, closest_p2);
  }

  /// @brief Whether the traversal process can stop early
  bool canStop(FCL_REAL c) const
  {
    if((c >= this->result->min_distance - abs_err) && (c * (1 + rel_err) >= this->result->min_distance))
      return true;
    return false;
  }

  Vec3f* vertices;
  Triangle* tri_indices;

  FCL_REAL rel_err;
  FCL_REAL abs_err;
    
  const NarrowPhaseSolver* nsolver;
};

template<typename S, typename NarrowPhaseSolver>
class ShapeMeshDistanceTraversalNodeRSS : public ShapeMeshDistanceTraversalNode<S, RSS, NarrowPhaseSolver>
{
public:
  ShapeMeshDistanceTraversalNodeRSS() : ShapeMeshDistanceTraversalNode<S, RSS, NarrowPhaseSolver>()
  {
  }

  void preprocess()
  {
    details::distancePreprocessOrientedNode(this->model2, this->vertices, this->tri_indices, 0,
                                            *(this->model1), this->tf2, this->tf1, this->nsolver, this->request, *(this->result));
  }

  void postprocess()
  {
  }

  FCL_REAL BVTesting(int b1, int b2) const
  {
    if(this->enable_statistics) this->num_bv_tests++;
    return distance(this->tf2.getRotation(), this->tf2.getTranslation(), this->model1_bv, this->model2->getBV(b2).bv);
  }

  void leafTesting(int b1, int b2) const
  {
    details::meshShapeDistanceOrientedNodeLeafTesting(b2, b1, this->model2, *(this->model1), this->vertices, this->tri_indices,
                                                      this->tf2, this->tf1, this->nsolver, this->enable_statistics, this->num_leaf_tests, this->request, *(this->result));
  }

};

template<typename S, typename NarrowPhaseSolver>
class ShapeMeshDistanceTraversalNodekIOS : public ShapeMeshDistanceTraversalNode<S, kIOS, NarrowPhaseSolver>
{
public:
  ShapeMeshDistanceTraversalNodekIOS() : ShapeMeshDistanceTraversalNode<S, kIOS, NarrowPhaseSolver>()
  {
  }

  void preprocess()
  {
    details::distancePreprocessOrientedNode(this->model2, this->vertices, this->tri_indices, 0,
                                            *(this->model1), this->tf2, this->tf1, this->nsolver, *(this->result));
  }

  void postprocess()
  {
  }

  FCL_REAL BVTesting(int b1, int b2) const
  {
    if(this->enable_statistics) this->num_bv_tests++;
    return distance(this->tf2.getRotation(), this->tf2.getTranslation(), this->model1_bv, this->model2->getBV(b2).bv);
  }

  void leafTesting(int b1, int b2) const
  {
    details::meshShapeDistanceOrientedNodeLeafTesting(b2, b1, this->model2, *(this->model1), this->vertices, this->tri_indices,
                                                      this->tf2, this->tf1, this->nsolver, this->enable_statistics, this->num_leaf_tests, this->request, *(this->result));
  }
  
};

template<typename S, typename NarrowPhaseSolver>
class ShapeMeshDistanceTraversalNodeOBBRSS : public ShapeMeshDistanceTraversalNode<S, OBBRSS, NarrowPhaseSolver>
{
public:
  ShapeMeshDistanceTraversalNodeOBBRSS() : ShapeMeshDistanceTraversalNode<S, OBBRSS, NarrowPhaseSolver>()
  {
  }

  void preprocess()
  {
    details::distancePreprocessOrientedNode(this->model2, this->vertices, this->tri_indices, 0,
                                            *(this->model1), this->tf2, this->tf1, this->nsolver, *(this->result));
  }

  void postprocess()
  {    
  }

  FCL_REAL BVTesting(int b1, int b2) const
  {
    if(this->enable_statistics) this->num_bv_tests++;
    return distance(this->tf2.getRotation(), this->tf2.getTranslation(), this->model1_bv, this->model2->getBV(b2).bv);
  }

  void leafTesting(int b1, int b2) const
  {
    details::meshShapeDistanceOrientedNodeLeafTesting(b2, b1, this->model2, *(this->model1), this->vertices, this->tri_indices,
                                                      this->tf2, this->tf1, this->nsolver, this->enable_statistics, this->num_leaf_tests, this->request, *(this->result));
  }
  
};


/// @brief Traversal node for conservative advancement computation between BVH and shape
template<typename BV, typename S, typename NarrowPhaseSolver>
class MeshShapeConservativeAdvancementTraversalNode : public MeshShapeDistanceTraversalNode<BV, S, NarrowPhaseSolver>
{
public:
  MeshShapeConservativeAdvancementTraversalNode(FCL_REAL w_ = 1) : MeshShapeDistanceTraversalNode<BV, S, NarrowPhaseSolver>()
  {
    delta_t = 1;
    toc = 0;
    t_err = (FCL_REAL)0.0001;

    w = w_;

    motion1 = NULL;
    motion2 = NULL;
  }

  /// @brief BV culling test in one BVTT node
  FCL_REAL BVTesting(int b1, int b2) const
  {
    if(this->enable_statistics) this->num_bv_tests++;
    Vec3f P1, P2;
    FCL_REAL d = this->model2_bv.distance(this->model1->getBV(b1).bv, &P2, &P1);

    stack.push_back(ConservativeAdvancementStackData(P1, P2, b1, b2, d));
    
    return d;
  }

  /// @brief Conservative advancement testing between leaves (one triangle and one shape)
  void leafTesting(int b1, int b2) const
  {
    if(this->enable_statistics) this->num_leaf_tests++;

    const BVNode<BV>& node = this->model1->getBV(b1);

    int primitive_id = node.primitiveId();

    const Triangle& tri_id = this->tri_indices[primitive_id];

    const Vec3f& p1 = this->vertices[tri_id[0]];
    const Vec3f& p2 = this->vertices[tri_id[1]];
    const Vec3f& p3 = this->vertices[tri_id[2]];

    FCL_REAL d;
    Vec3f P1, P2;
    this->nsolver->shapeTriangleDistance(*(this->model2), this->tf2, p1, p2, p3, &d, &P2, &P1);

    if(d < this->min_distance)
    {
      this->min_distance = d;

      closest_p1 = P1;
      closest_p2 = P2;
      
      last_tri_id = primitive_id;
    }

    Vec3f n = this->tf2.transform(P2) - P1; n.normalize();
    // here n should be in global frame
    TriangleMotionBoundVisitor mb_visitor1(p1, p2, p3, n);
    TBVMotionBoundVisitor<BV> mb_visitor2(this->model2_bv, -n);
    FCL_REAL bound1 = motion1->computeMotionBound(mb_visitor1);
    FCL_REAL bound2 = motion2->computeMotionBound(mb_visitor2);

    FCL_REAL bound = bound1 + bound2;

    FCL_REAL cur_delta_t;
    if(bound <= d) cur_delta_t = 1;
    else cur_delta_t = d / bound;

    if(cur_delta_t < delta_t)
      delta_t = cur_delta_t;
  }

  /// @brief Whether the traversal process can stop early
  bool canStop(FCL_REAL c) const
  {
    if((c >= w * (this->min_distance - this->abs_err)) && (c * (1 + this->rel_err) >= w * this->min_distance))
    {
      const ConservativeAdvancementStackData& data = stack.back();

      Vec3f n = this->tf2.transform(data.P2) - data.P1; n.normalize();
      int c1 = data.c1;

      TBVMotionBoundVisitor<BV> mb_visitor1(this->model1->getBV(c1).bv, n);
      TBVMotionBoundVisitor<BV> mb_visitor2(this->model2_bv, -n);
      FCL_REAL bound1 = motion1->computeMotionBound(mb_visitor1);
      FCL_REAL bound2 = motion2->computeMotionBound(mb_visitor2);

      FCL_REAL bound = bound1 + bound2;

      FCL_REAL cur_delta_t;
      if(bound < c) cur_delta_t = 1;
      else cur_delta_t = c / bound;

      if(cur_delta_t < delta_t)
        delta_t = cur_delta_t;

      stack.pop_back();

      return true;
    }
    else
    {
      stack.pop_back();

      return false;
    }
  }

  mutable FCL_REAL min_distance;

  mutable Vec3f closest_p1, closest_p2;

  mutable int last_tri_id;
  
  /// @brief CA controlling variable: early stop for the early iterations of CA
  FCL_REAL w;

  /// @brief The time from beginning point
  FCL_REAL toc;
  FCL_REAL t_err;

  /// @brief The delta_t each step
  mutable FCL_REAL delta_t;

  /// @brief Motions for the two objects in query
  const MotionBase* motion1;
  const MotionBase* motion2;

  mutable std::vector<ConservativeAdvancementStackData> stack;
};


template<typename S, typename BV, typename NarrowPhaseSolver>
class ShapeMeshConservativeAdvancementTraversalNode : public ShapeMeshDistanceTraversalNode<S, BV, NarrowPhaseSolver>
{
public:
  ShapeMeshConservativeAdvancementTraversalNode(FCL_REAL w_ = 1) : ShapeMeshDistanceTraversalNode<S, BV, NarrowPhaseSolver>()
  {
    delta_t = 1;
    toc = 0;
    t_err = (FCL_REAL)0.0001;

    w = w_;

    motion1 = NULL;
    motion2 = NULL;
  }

  /// @brief BV culling test in one BVTT node
  FCL_REAL BVTesting(int b1, int b2) const
  {
    if(this->enable_statistics) this->num_bv_tests++;
    Vec3f P1, P2;
    FCL_REAL d = this->model1_bv.distance(this->model2->getBV(b2).bv, &P1, &P2);

    stack.push_back(ConservativeAdvancementStackData(P1, P2, b1, b2, d));

    return d;
  }

  /// @brief Conservative advancement testing between leaves (one triangle and one shape)
  void leafTesting(int b1, int b2) const
  {
    if(this->enable_statistics) this->num_leaf_tests++;

    const BVNode<BV>& node = this->model2->getBV(b2);

    int primitive_id = node.primitiveId();

    const Triangle& tri_id = this->tri_indices[primitive_id];
 
    const Vec3f& p1 = this->vertices[tri_id[0]];
    const Vec3f& p2 = this->vertices[tri_id[1]];
    const Vec3f& p3 = this->vertices[tri_id[2]];

    FCL_REAL d;
    Vec3f P1, P2;
    this->nsolver->shapeTriangleDistance(*(this->model1), this->tf1, p1, p2, p3, &d, &P1, &P2);

    if(d < this->min_distance)
    {
      this->min_distance = d;

      closest_p1 = P1;
      closest_p2 = P2;

      last_tri_id = primitive_id;
    }

    Vec3f n = P2 - this->tf1.transform(P1); n.normalize();
    // here n should be in global frame
    TBVMotionBoundVisitor<BV> mb_visitor1(this->model1_bv, n);
    TriangleMotionBoundVisitor mb_visitor2(p1, p2, p3, -n);
    FCL_REAL bound1 = motion1->computeMotionBound(mb_visitor1);
    FCL_REAL bound2 = motion2->computeMotionBound(mb_visitor2);

    FCL_REAL bound = bound1 + bound2;

    FCL_REAL cur_delta_t;
    if(bound <= d) cur_delta_t = 1;
    else cur_delta_t = d / bound;

    if(cur_delta_t < delta_t)
      delta_t = cur_delta_t;
  }

  /// @brief Whether the traversal process can stop early
  bool canStop(FCL_REAL c) const
  {
    if((c >= w * (this->min_distance - this->abs_err)) && (c * (1 + this->rel_err) >= w * this->min_distance))
    {
      const ConservativeAdvancementStackData& data = stack.back();

      Vec3f n = data.P2 - this->tf1.transform(data.P1); n.normalize();
      int c2 = data.c2;

      TBVMotionBoundVisitor<BV> mb_visitor1(this->model1_bv, n);
      TBVMotionBoundVisitor<BV> mb_visitor2(this->model2->getBV(c2).bv, -n);
      FCL_REAL bound1 = motion1->computeMotionBound(mb_visitor1);
      FCL_REAL bound2 = motion2->computeMotionBound(mb_visitor2);

      FCL_REAL bound = bound1 + bound2;

      FCL_REAL cur_delta_t;
      if(bound < c) cur_delta_t = 1;
      else cur_delta_t = c / bound;

      if(cur_delta_t < delta_t)
        delta_t = cur_delta_t;

      stack.pop_back();

      return true;
    }
    else
    {
      stack.pop_back();

      return false;
    }
  }

  mutable FCL_REAL min_distance;

  mutable Vec3f closest_p1, closest_p2;

  mutable int last_tri_id;
  
   /// @brief CA controlling variable: early stop for the early iterations of CA
  FCL_REAL w;

  /// @brief The time from beginning point
  FCL_REAL toc;
  FCL_REAL t_err;

  /// @brief The delta_t each step
  mutable FCL_REAL delta_t;

  /// @brief Motions for the two objects in query
  const MotionBase* motion1;
  const MotionBase* motion2;

  mutable std::vector<ConservativeAdvancementStackData> stack;  
};

namespace details
{
template<typename BV, typename S, typename NarrowPhaseSolver>
void meshShapeConservativeAdvancementOrientedNodeLeafTesting(int b1, int /* b2 */,
                                                             const BVHModel<BV>* model1, const S& model2,
                                                             const BV& model2_bv,
                                                             Vec3f* vertices, Triangle* tri_indices,
                                                             const Transform3f& tf1,
                                                             const Transform3f& tf2,
                                                             const MotionBase* motion1, const MotionBase* motion2,
                                                             const NarrowPhaseSolver* nsolver,
                                                             bool enable_statistics,
                                                             FCL_REAL& min_distance,
                                                             Vec3f& p1, Vec3f& p2,
                                                             int& last_tri_id,
                                                             FCL_REAL& delta_t,
                                                             int& num_leaf_tests)
{
  if(enable_statistics) num_leaf_tests++;

  const BVNode<BV>& node = model1->getBV(b1);
  int primitive_id = node.primitiveId();

  const Triangle& tri_id = tri_indices[primitive_id];
  const Vec3f& t1 = vertices[tri_id[0]];
  const Vec3f& t2 = vertices[tri_id[1]];
  const Vec3f& t3 = vertices[tri_id[2]];
    
  FCL_REAL distance;
  Vec3f P1, P2;
  nsolver->shapeTriangleDistance(model2, tf2, t1, t2, t3, tf1, &distance, &P2, &P1);

  if(distance < min_distance)
  {
    min_distance = distance;
    
    p1 = P1;
    p2 = P2;

    last_tri_id = primitive_id;
  }

  // n is in global frame
  Vec3f n = P2 - P1; n.normalize();

  TriangleMotionBoundVisitor mb_visitor1(t1, t2, t3, n);
  TBVMotionBoundVisitor<BV> mb_visitor2(model2_bv, -n);
  FCL_REAL bound1 = motion1->computeMotionBound(mb_visitor1);
  FCL_REAL bound2 = motion2->computeMotionBound(mb_visitor2);

  FCL_REAL bound = bound1 + bound2;
  
  FCL_REAL cur_delta_t;
  if(bound <= distance) cur_delta_t = 1;
  else cur_delta_t = distance / bound;

  if(cur_delta_t < delta_t)
    delta_t = cur_delta_t;  
}


template<typename BV, typename S>
bool meshShapeConservativeAdvancementOrientedNodeCanStop(FCL_REAL c,
                                                         FCL_REAL min_distance,
                                                         FCL_REAL abs_err, FCL_REAL rel_err, FCL_REAL w,
                                                         const BVHModel<BV>* model1, const S& model2,
                                                         const BV& model2_bv,
                                                         const MotionBase* motion1, const MotionBase* motion2,
                                                         std::vector<ConservativeAdvancementStackData>& stack,
                                                         FCL_REAL& delta_t)
{
  if((c >= w * (min_distance - abs_err)) && (c * (1 + rel_err) >= w * min_distance))
  {
    const ConservativeAdvancementStackData& data = stack.back();
    Vec3f n = data.P2 - data.P1; n.normalize();
    int c1 = data.c1;

    TBVMotionBoundVisitor<BV> mb_visitor1(model1->getBV(c1).bv, n);
    TBVMotionBoundVisitor<BV> mb_visitor2(model2_bv, -n);

    FCL_REAL bound1 = motion1->computeMotionBound(mb_visitor1);
    FCL_REAL bound2 = motion2->computeMotionBound(mb_visitor2);

    FCL_REAL bound = bound1 + bound2;

    FCL_REAL cur_delta_t;
    if(bound <= c) cur_delta_t = 1;
    else cur_delta_t = c / bound;

    if(cur_delta_t < delta_t)
      delta_t = cur_delta_t;

    stack.pop_back();

    return true;
  }
  else
  {
    stack.pop_back();
    return false;
  }
}


}

template<typename S, typename NarrowPhaseSolver>
class MeshShapeConservativeAdvancementTraversalNodeRSS : public MeshShapeConservativeAdvancementTraversalNode<RSS, S, NarrowPhaseSolver>
{
public:
  MeshShapeConservativeAdvancementTraversalNodeRSS(FCL_REAL w_ = 1) : MeshShapeConservativeAdvancementTraversalNode<RSS, S, NarrowPhaseSolver>(w_)
  {
  }

  FCL_REAL BVTesting(int b1, int b2) const
  {
    if(this->enable_statistics) this->num_bv_tests++;
    Vec3f P1, P2;
    FCL_REAL d = distance(this->tf1.getRotation(), this->tf1.getTranslation(), this->model1->getBV(b1).bv, this->model2_bv, &P1, &P2);

    this->stack.push_back(ConservativeAdvancementStackData(P1, P2, b1, b2, d));

    return d;
  }

  void leafTesting(int b1, int b2) const
  {
    details::meshShapeConservativeAdvancementOrientedNodeLeafTesting(b1, b2, this->model1, *(this->model2),
                                                                     this->model2_bv,
                                                                     this->vertices, this->tri_indices,
                                                                     this->tf1, this->tf2,
                                                                     this->motion1, this->motion2,
                                                                     this->nsolver,
                                                                     this->enable_statistics,
                                                                     this->min_distance,
                                                                     this->closest_p1, this->closest_p2,
                                                                     this->last_tri_id,
                                                                     this->delta_t,
                                                                     this->num_leaf_tests);
  }

  bool canStop(FCL_REAL c) const
  {
    return details::meshShapeConservativeAdvancementOrientedNodeCanStop(c, this->min_distance,
                                                                        this->abs_err, this->rel_err, this->w,
                                                                        this->model1, *(this->model2), this->model2_bv,
                                                                        this->motion1, this->motion2,
                                                                        this->stack, this->delta_t);
  }
};


template<typename S, typename NarrowPhaseSolver>
class MeshShapeConservativeAdvancementTraversalNodeOBBRSS : public MeshShapeConservativeAdvancementTraversalNode<OBBRSS, S, NarrowPhaseSolver>
{
public:
  MeshShapeConservativeAdvancementTraversalNodeOBBRSS(FCL_REAL w_ = 1) : MeshShapeConservativeAdvancementTraversalNode<OBBRSS, S, NarrowPhaseSolver>(w_)
  {
  }

  FCL_REAL BVTesting(int b1, int b2) const
  {
    if(this->enable_statistics) this->num_bv_tests++;
    Vec3f P1, P2;
    FCL_REAL d = distance(this->tf1.getRotation(), this->tf1.getTranslation(), this->model1->getBV(b1).bv, this->model2_bv, &P1, &P2);

    this->stack.push_back(ConservativeAdvancementStackData(P1, P2, b1, b2, d));

    return d;
  }

  void leafTesting(int b1, int b2) const
  {
    details::meshShapeConservativeAdvancementOrientedNodeLeafTesting(b1, b2, this->model1, *(this->model2),
                                                                     this->model2_bv,
                                                                     this->vertices, this->tri_indices,
                                                                     this->tf1, this->tf2,
                                                                     this->motion1, this->motion2,
                                                                     this->nsolver,
                                                                     this->enable_statistics,
                                                                     this->min_distance,
                                                                     this->closest_p1, this->closest_p2,
                                                                     this->last_tri_id,
                                                                     this->delta_t,
                                                                     this->num_leaf_tests);
  }

  bool canStop(FCL_REAL c) const
  {
    return details::meshShapeConservativeAdvancementOrientedNodeCanStop(c, this->min_distance,
                                                                        this->abs_err, this->rel_err, this->w,
                                                                        this->model1, *(this->model2), this->model2_bv,
                                                                        this->motion1, this->motion2,
                                                                        this->stack, this->delta_t);
  }
};



template<typename S, typename NarrowPhaseSolver>
class ShapeMeshConservativeAdvancementTraversalNodeRSS : public ShapeMeshConservativeAdvancementTraversalNode<S, RSS, NarrowPhaseSolver>
{
public:
  ShapeMeshConservativeAdvancementTraversalNodeRSS(FCL_REAL w_ = 1) : ShapeMeshConservativeAdvancementTraversalNode<S, RSS, NarrowPhaseSolver>(w_)
  {
  }

  FCL_REAL BVTesting(int b1, int b2) const
  {
    if(this->enable_statistics) this->num_bv_tests++;
    Vec3f P1, P2;
    FCL_REAL d = distance(this->tf2.getRotation(), this->tf2.getTranslation(), this->model2->getBV(b2).bv, this->model1_bv, &P2, &P1);

    this->stack.push_back(ConservativeAdvancementStackData(P1, P2, b1, b2, d));

    return d;
  }

  void leafTesting(int b1, int b2) const
  {
    details::meshShapeConservativeAdvancementOrientedNodeLeafTesting(b2, b1, this->model2, *(this->model1),
                                                                     this->model1_bv,
                                                                     this->vertices, this->tri_indices,
                                                                     this->tf2, this->tf1,
                                                                     this->motion2, this->motion1,
                                                                     this->nsolver,
                                                                     this->enable_statistics,
                                                                     this->min_distance,
                                                                     this->closest_p2, this->closest_p1,
                                                                     this->last_tri_id,
                                                                     this->delta_t,
                                                                     this->num_leaf_tests);
  }

  bool canStop(FCL_REAL c) const
  {
    return details::meshShapeConservativeAdvancementOrientedNodeCanStop(c, this->min_distance,
                                                                        this->abs_err, this->rel_err, this->w,
                                                                        this->model2, *(this->model1), this->model1_bv,
                                                                        this->motion2, this->motion1,
                                                                        this->stack, this->delta_t);
  }
};


template<typename S, typename NarrowPhaseSolver>
class ShapeMeshConservativeAdvancementTraversalNodeOBBRSS : public ShapeMeshConservativeAdvancementTraversalNode<S, OBBRSS, NarrowPhaseSolver>
{
public:
  ShapeMeshConservativeAdvancementTraversalNodeOBBRSS(FCL_REAL w_ = 1) : ShapeMeshConservativeAdvancementTraversalNode<S, OBBRSS, NarrowPhaseSolver>(w_)
  {
  }

  FCL_REAL BVTesting(int b1, int b2) const
  {
    if(this->enable_statistics) this->num_bv_tests++;
    Vec3f P1, P2;
    FCL_REAL d = distance(this->tf2.getRotation(), this->tf2.getTranslation(), this->model2->getBV(b2).bv, this->model1_bv, &P2, &P1);

    this->stack.push_back(ConservativeAdvancementStackData(P1, P2, b1, b2, d));

    return d;
  }

  void leafTesting(int b1, int b2) const
  {
    details::meshShapeConservativeAdvancementOrientedNodeLeafTesting(b2, b1, this->model2, *(this->model1),
                                                                     this->model1_bv,
                                                                     this->vertices, this->tri_indices,
                                                                     this->tf2, this->tf1,
                                                                     this->motion2, this->motion1,
                                                                     this->nsolver,
                                                                     this->enable_statistics,
                                                                     this->min_distance,
                                                                     this->closest_p2, this->closest_p1,
                                                                     this->last_tri_id,
                                                                     this->delta_t,
                                                                     this->num_leaf_tests);
  }

  bool canStop(FCL_REAL c) const
  {
    return details::meshShapeConservativeAdvancementOrientedNodeCanStop(c, this->min_distance,
                                                                        this->abs_err, this->rel_err, this->w,
                                                                        this->model2, *(this->model1), this->model1_bv,
                                                                        this->motion2, this->motion1,
                                                                        this->stack, this->delta_t);
  }
};


}

#endif
