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/** @author Jia Pan */

#ifndef FCL_CONSERVATIVE_ADVANCEMENT_H
#define FCL_CONSERVATIVE_ADVANCEMENT_H

#include "fcl/geometry/collision_geometry.h"
#include "fcl/narrowphase/continuous_collision_request.h"
#include "fcl/narrowphase/continuous_collision_result.h"

namespace fcl
{

namespace detail
{

template<typename NarrowPhaseSolver>
struct ConservativeAdvancementFunctionMatrix
{
  using S = typename NarrowPhaseSolver::S;

  using ConservativeAdvancementFunc
      = S (*)(const CollisionGeometry<S>* o1,
              const MotionBase<S>* motion1,
              const CollisionGeometry<S>* o2,
              const MotionBase<S>* motion2,
              const NarrowPhaseSolver* nsolver,
              const ContinuousCollisionRequest<S>& request,
              ContinuousCollisionResult<S>& result);

  ConservativeAdvancementFunc conservative_advancement_matrix[NODE_COUNT][NODE_COUNT];

  ConservativeAdvancementFunctionMatrix();
};

} // namespace detail
} // namespace fcl

#include "fcl/narrowphase/detail/conservative_advancement_func_matrix-inl.h"

#endif
