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/** \author Jia Pan */

#ifndef FCL_CONSERVATIVE_ADVANCEMENT_H
#define FCL_CONSERVATIVE_ADVANCEMENT_H


#include "fcl/vec_3f.h"
#include "fcl/collision_object.h"
#include "fcl/collision_data.h"
#include "fcl/motion_base.h"


namespace fcl
{

template<typename BV>
int conservativeAdvancement(const CollisionObject* o1,
                            MotionBase<BV>* motion1,
                            const CollisionObject* o2,
                            MotionBase<BV>* motion2,
                            int num_max_contacts, bool exhaustive, bool enable_contact,
                            std::vector<Contact>& contacts,
                            BVH_REAL& toc);

}

#endif
