diff --git a/trunk/fcl/CMakeLists.txt b/trunk/fcl/CMakeLists.txt
index 1e64b34acda84fa8f46b3f65d4d575f0da2bf09c..0a5e0a2f85f9e61205ebdb0c2af8d38c95826de0 100644
--- a/trunk/fcl/CMakeLists.txt
+++ b/trunk/fcl/CMakeLists.txt
@@ -37,7 +37,7 @@ link_directories(${CCD_LIBRARY_DIRS})
 
 add_definitions(-DUSE_SVMLIGHT=0)
 
-add_library(${PROJECT_NAME} SHARED src/AABB.cpp src/OBB.cpp src/RSS.cpp src/kIOS.cpp src/vec_3f.cpp src/traversal_node_base.cpp src/traversal_node_bvhs.cpp src/intersect.cpp src/motion.cpp src/BV_fitter.cpp src/BV_splitter.cpp src/BVH_model.cpp src/BVH_utility.cpp src/transform.cpp src/simple_setup.cpp src/geometric_shapes.cpp src/geometric_shapes_utility.cpp src/geometric_shapes_intersect.cpp src/collision_node.cpp src/traversal_recurse.cpp src/broad_phase_collision.cpp src/collision.cpp src/collision_func_matrix.cpp src/interval_tree.cpp src/conservative_advancement.cpp src/matrix_3f.cpp src/interval.cpp src/interval_vector.cpp src/interval_matrix.cpp src/taylor_model.cpp src/taylor_vector.cpp src/taylor_matrix.cpp src/distance_func_matrix.cpp src/distance.cpp)
+add_library(${PROJECT_NAME} SHARED src/BV/AABB.cpp src/BV/OBB.cpp src/BV/RSS.cpp src/BV/kIOS.cpp src/vec_3f.cpp src/traversal_node_base.cpp src/traversal_node_bvhs.cpp src/intersect.cpp src/motion.cpp src/BV_fitter.cpp src/BV_splitter.cpp src/BVH_model.cpp src/BVH_utility.cpp src/transform.cpp src/simple_setup.cpp src/geometric_shapes.cpp src/geometric_shapes_utility.cpp src/geometric_shapes_intersect.cpp src/collision_node.cpp src/traversal_recurse.cpp src/broad_phase_collision.cpp src/collision.cpp src/collision_func_matrix.cpp src/interval_tree.cpp src/conservative_advancement.cpp src/matrix_3f.cpp src/interval.cpp src/interval_vector.cpp src/interval_matrix.cpp src/taylor_model.cpp src/taylor_vector.cpp src/taylor_matrix.cpp src/distance_func_matrix.cpp src/distance.cpp)
 
 target_link_libraries(${PROJECT_NAME} ${FLANN_LIBRARIES} ${CCD_LIBRARIES})
 
diff --git a/trunk/fcl/include/fcl/BV.h b/trunk/fcl/include/fcl/BV.h
index 895c811eb8d48c52614b86b7b6f0a36ceb5f8c86..4ae915f208f831e12069d973d5c43db9857559a3 100644
--- a/trunk/fcl/include/fcl/BV.h
+++ b/trunk/fcl/include/fcl/BV.h
@@ -38,10 +38,12 @@
 #define FCL_BV_H
 
 
-#include "fcl/kDOP.h"
-#include "fcl/AABB.h"
-#include "fcl/OBB.h"
-#include "fcl/RSS.h"
+#include "fcl/BV/kDOP.h"
+#include "fcl/BV/AABB.h"
+#include "fcl/BV/OBB.h"
+#include "fcl/BV/RSS.h"
+#include "fcl/BV/OBBRSS.h"
+#include "fcl/BV/kIOS.h"
 
 /** \brief Main namespace */
 namespace fcl
diff --git a/trunk/fcl/include/fcl/AABB.h b/trunk/fcl/include/fcl/BV/AABB.h
similarity index 100%
rename from trunk/fcl/include/fcl/AABB.h
rename to trunk/fcl/include/fcl/BV/AABB.h
diff --git a/trunk/fcl/include/fcl/OBB.h b/trunk/fcl/include/fcl/BV/OBB.h
similarity index 100%
rename from trunk/fcl/include/fcl/OBB.h
rename to trunk/fcl/include/fcl/BV/OBB.h
diff --git a/trunk/fcl/include/fcl/OBBRSS.h b/trunk/fcl/include/fcl/BV/OBBRSS.h
similarity index 100%
rename from trunk/fcl/include/fcl/OBBRSS.h
rename to trunk/fcl/include/fcl/BV/OBBRSS.h
diff --git a/trunk/fcl/include/fcl/RSS.h b/trunk/fcl/include/fcl/BV/RSS.h
similarity index 100%
rename from trunk/fcl/include/fcl/RSS.h
rename to trunk/fcl/include/fcl/BV/RSS.h
diff --git a/trunk/fcl/include/fcl/kDOP.h b/trunk/fcl/include/fcl/BV/kDOP.h
similarity index 100%
rename from trunk/fcl/include/fcl/kDOP.h
rename to trunk/fcl/include/fcl/BV/kDOP.h
diff --git a/trunk/fcl/include/fcl/kIOS.h b/trunk/fcl/include/fcl/BV/kIOS.h
similarity index 99%
rename from trunk/fcl/include/fcl/kIOS.h
rename to trunk/fcl/include/fcl/BV/kIOS.h
index b19034061dd8f0b69795a9dd97abfd58b1d85c90..8532702e83989fd3bf3f01648f3133b50c2688b2 100644
--- a/trunk/fcl/include/fcl/kIOS.h
+++ b/trunk/fcl/include/fcl/BV/kIOS.h
@@ -40,7 +40,7 @@
 #include "fcl/BVH_internal.h"
 #include "fcl/vec_3f.h"
 #include "fcl/matrix_3f.h"
-#include "fcl/OBB.h"
+#include "fcl/BV/OBB.h"
 
 /** \brief Main namespace */
 namespace fcl
diff --git a/trunk/fcl/include/fcl/BV_fitter.h b/trunk/fcl/include/fcl/BV_fitter.h
index dfd66e270dcf1d40a418cefafa08e8385f3d98a8..cd312166c54b93e4406f256a985653be45458ae2 100644
--- a/trunk/fcl/include/fcl/BV_fitter.h
+++ b/trunk/fcl/include/fcl/BV_fitter.h
@@ -41,10 +41,10 @@
 #include "fcl/BVH_internal.h"
 #include "fcl/primitive.h"
 #include "fcl/vec_3f.h"
-#include "fcl/OBB.h"
-#include "fcl/RSS.h"
-#include "fcl/kIOS.h"
-#include "fcl/OBBRSS.h"
+#include "fcl/BV/OBB.h"
+#include "fcl/BV/RSS.h"
+#include "fcl/BV/kIOS.h"
+#include "fcl/BV/OBBRSS.h"
 #include <iostream>
 
 /** \brief Main namespace */
diff --git a/trunk/fcl/include/fcl/BV_node.h b/trunk/fcl/include/fcl/BV_node.h
index 0058275a7919a88e5ea6df9cc1b6ad376b87393a..bfafb8353072234a1eecaf3f10de252c977eb745 100644
--- a/trunk/fcl/include/fcl/BV_node.h
+++ b/trunk/fcl/include/fcl/BV_node.h
@@ -41,8 +41,8 @@
 #include "fcl/vec_3f.h"
 #include "fcl/matrix_3f.h"
 
-#include "fcl/OBB.h"
-#include "fcl/RSS.h"
+#include "fcl/BV/OBB.h"
+#include "fcl/BV/RSS.h"
 
 /** \brief Main namespace */
 namespace fcl
diff --git a/trunk/fcl/include/fcl/BV_splitter.h b/trunk/fcl/include/fcl/BV_splitter.h
index 8187a513c8beecfd0e34512c91f04616acafb438..192dfeb6df8f5ad9385bedc12aa8e3718aa1eb9a 100644
--- a/trunk/fcl/include/fcl/BV_splitter.h
+++ b/trunk/fcl/include/fcl/BV_splitter.h
@@ -41,10 +41,10 @@
 #include "fcl/BVH_internal.h"
 #include "fcl/primitive.h"
 #include "fcl/vec_3f.h"
-#include "fcl/OBB.h"
-#include "fcl/RSS.h"
-#include "fcl/kIOS.h"
-#include "fcl/OBBRSS.h"
+#include "fcl/BV/OBB.h"
+#include "fcl/BV/RSS.h"
+#include "fcl/BV/kIOS.h"
+#include "fcl/BV/OBBRSS.h"
 #include <vector>
 #include <iostream>
 
diff --git a/trunk/fcl/include/fcl/broad_phase_collision.h b/trunk/fcl/include/fcl/broad_phase_collision.h
index a848866b2987c349c99f2e7f6f73b4b05df49576..e52c62db8da7c1c2fbcaff5b56d2427fe8a63ac8 100644
--- a/trunk/fcl/include/fcl/broad_phase_collision.h
+++ b/trunk/fcl/include/fcl/broad_phase_collision.h
@@ -41,7 +41,7 @@
 
 #include "fcl/collision_object.h"
 #include "fcl/collision_data.h"
-#include "fcl/AABB.h"
+#include "fcl/BV/AABB.h"
 #include "fcl/interval_tree.h"
 #include "fcl/hash.h"
 #include <vector>
diff --git a/trunk/fcl/include/fcl/collision_object.h b/trunk/fcl/include/fcl/collision_object.h
index 8fcb56e96ed58bc20f0df6a9051da6be842a0bc5..eb062de64e144077983b3dc231afbce9583677d6 100644
--- a/trunk/fcl/include/fcl/collision_object.h
+++ b/trunk/fcl/include/fcl/collision_object.h
@@ -38,7 +38,7 @@
 #ifndef FCL_COLLISION_OBJECT_BASE_H
 #define FCL_COLLISION_OBJECT_BASE_H
 
-#include "fcl/AABB.h"
+#include "fcl/BV/AABB.h"
 #include "fcl/transform.h"
 #include <boost/shared_ptr.hpp>
 
diff --git a/trunk/fcl/include/fcl/motion.h b/trunk/fcl/include/fcl/motion.h
index b8953e295de64b4ee4d63b36f294a08de633474c..e8af515f202812c9379e41188afd7ff22276949b 100644
--- a/trunk/fcl/include/fcl/motion.h
+++ b/trunk/fcl/include/fcl/motion.h
@@ -40,7 +40,7 @@
 
 #include "fcl/vec_3f.h"
 #include "fcl/matrix_3f.h"
-#include "fcl/RSS.h"
+#include "fcl/BV/RSS.h"
 #include "fcl/transform.h"
 #include "fcl/motion_base.h"
 #include "fcl/intersect.h"
diff --git a/trunk/fcl/include/fcl/motion_base.h b/trunk/fcl/include/fcl/motion_base.h
index 1725ab50fb7c9f09582b54958983509b2b31520a..1b4f9443429328ba9287d332cf6101cf0ef66e81 100644
--- a/trunk/fcl/include/fcl/motion_base.h
+++ b/trunk/fcl/include/fcl/motion_base.h
@@ -41,7 +41,7 @@
 #include "fcl/vec_3f.h"
 #include "fcl/matrix_3f.h"
 #include "fcl/transform.h"
-#include "fcl/RSS.h"
+#include "fcl/BV/RSS.h"
 namespace fcl
 {
 
diff --git a/trunk/fcl/include/fcl/vec_3f.h b/trunk/fcl/include/fcl/vec_3f.h
index 35adfa02e0ffe896a8b60f2f97683dbe9c4a4b03..86f79dd32f9f0fd079faa3a6b8e0f16b59bf2e44 100644
--- a/trunk/fcl/include/fcl/vec_3f.h
+++ b/trunk/fcl/include/fcl/vec_3f.h
@@ -47,7 +47,6 @@
 namespace fcl
 {
 
-
 #if COLLISION_USE_SSE
 #include <xmmintrin.h>
 #include <pmmintrin.h>
diff --git a/trunk/fcl/src/AABB.cpp b/trunk/fcl/src/BV/AABB.cpp
similarity index 99%
rename from trunk/fcl/src/AABB.cpp
rename to trunk/fcl/src/BV/AABB.cpp
index 39ba0c092bc15c9a98b84d38e7476d99b51036df..03faf76f7defa238e75367ee320c74fa0331fd17 100644
--- a/trunk/fcl/src/AABB.cpp
+++ b/trunk/fcl/src/BV/AABB.cpp
@@ -34,7 +34,7 @@
 
 /** \author Jia Pan */
 
-#include "fcl/AABB.h"
+#include "fcl/BV/AABB.h"
 
 #include <limits>
 #include <iostream>
diff --git a/trunk/fcl/src/OBB.cpp b/trunk/fcl/src/BV/OBB.cpp
similarity index 99%
rename from trunk/fcl/src/OBB.cpp
rename to trunk/fcl/src/BV/OBB.cpp
index b44a59401cd6da8d30c3e288799ea33a40bf9896..7ed1001ea3cc4e94838624b985c864815d78a3c5 100644
--- a/trunk/fcl/src/OBB.cpp
+++ b/trunk/fcl/src/BV/OBB.cpp
@@ -34,7 +34,7 @@
 
 /** \author Jia Pan */
 
-#include "fcl/OBB.h"
+#include "fcl/BV/OBB.h"
 #include "fcl/BVH_utility.h"
 #include "fcl/transform.h"
 
diff --git a/trunk/fcl/src/RSS.cpp b/trunk/fcl/src/BV/RSS.cpp
similarity index 99%
rename from trunk/fcl/src/RSS.cpp
rename to trunk/fcl/src/BV/RSS.cpp
index 9aa0652b8401a4edec0d67a726e3c49cedc70a3b..6c6253f6c32fc01e3779d1480c4d93c7bf7a1d38 100644
--- a/trunk/fcl/src/RSS.cpp
+++ b/trunk/fcl/src/BV/RSS.cpp
@@ -34,7 +34,7 @@
 
 /** \author Jia Pan */
 
-#include "fcl/RSS.h"
+#include "fcl/BV/RSS.h"
 #include "fcl/BVH_utility.h"
 #include <iostream>
 namespace fcl
diff --git a/trunk/fcl/src/kIOS.cpp b/trunk/fcl/src/BV/kIOS.cpp
similarity index 99%
rename from trunk/fcl/src/kIOS.cpp
rename to trunk/fcl/src/BV/kIOS.cpp
index 1370de6d7bc5d1600e21574c1bb6389290feb796..29d3677b6738fb2a806eb20bec88fcb51202355b 100644
--- a/trunk/fcl/src/kIOS.cpp
+++ b/trunk/fcl/src/BV/kIOS.cpp
@@ -34,7 +34,7 @@
 
 /** \author Jia Pan */
 
-#include "fcl/kIOS.h"
+#include "fcl/BV/kIOS.h"
 #include "fcl/BVH_utility.h"
 #include "fcl/transform.h"