How to initialize a BroadPhaseContinuousCollisionManager class?

[ChenYunan]

I'm trying to use FCL for collision checking among a collection of moving rigid objects, about from 100 to 1000 objects. It seems that broadphase can be more efficient, I've read the code "test_fcl_broadphase_collision_1.cpp", a manager should be assign a certain type, e.g. BroadPhaseCollisionManagerd* manager = new DynamicAABBTreeCollisionManagerd();.

1. I want to use class BroadPhaseContinuousCollisionManager for ContinuousCollisionObject that initialize with a motion, what should I do?

2. Is there a method to define a motion that including multiple states ( not just start and end )?

3. Can I get the collision state(x, y, z... at the collision time) of the object?

Thank you very much! (I'm a new user of FCL, please forgive me if my description is wrong.)

[FlyAcc]

Does FCL support broad phase continuous collision?

[caxapexac]

Any solutions yet?