diff --git a/include/fcl/narrowphase/detail/conservative_advancement_func_matrix-inl.h b/include/fcl/narrowphase/detail/conservative_advancement_func_matrix-inl.h
index d6431d6e3..b29e002e5 100644
--- a/include/fcl/narrowphase/detail/conservative_advancement_func_matrix-inl.h
+++ b/include/fcl/narrowphase/detail/conservative_advancement_func_matrix-inl.h
@@ -70,17 +70,16 @@ namespace fcl
 namespace detail
 {
 
-//==============================================================================
-template<typename BV>
-bool conservativeAdvancement(const BVHModel<BV>& o1,
-                             const MotionBase<typename BV::S>* motion1,
-                             const BVHModel<BV>& o2,
-                             const MotionBase<typename BV::S>* motion2,
-                             const CollisionRequest<typename BV::S>& request,
-                             CollisionResult<typename BV::S>& result,
-                             typename BV::S& toc)
-{
-  using S = typename BV::S;
+
+template<typename S, typename TraversalNode>
+bool conservativeAdvancementExec(TraversalNode& node,
+                                 const BVHModel<typename TraversalNode::BV>& o1,
+                                 const MotionBase<S>* motion1,
+                                 const BVHModel<typename TraversalNode::BV>& o2,
+                                 const MotionBase<S>* motion2,
+                                 const CollisionRequest<S>& request,
+                                 CollisionResult<S>& result,
+                                 S& toc) {
 
   Transform3<S> tf1;
   Transform3<S> tf2;
@@ -94,13 +93,11 @@ bool conservativeAdvancement(const BVHModel<BV>& o1,
     return true;
   }
 
+  typedef typename TraversalNode::BV BV;
 
   BVHModel<BV>* o1_tmp = new BVHModel<BV>(o1);
   BVHModel<BV>* o2_tmp = new BVHModel<BV>(o2);
 
-
-  MeshConservativeAdvancementTraversalNode<BV> node;
-
   node.motion1 = motion1;
   node.motion2 = motion2;
 
@@ -146,6 +143,56 @@ bool conservativeAdvancement(const BVHModel<BV>& o1,
   return false;
 }
 
+
+
+//==============================================================================
+template<typename BV>
+bool conservativeAdvancement(const BVHModel<BV>& o1,
+                             const MotionBase<typename BV::S>* motion1,
+                             const BVHModel<BV>& o2,
+                             const MotionBase<typename BV::S>* motion2,
+                             const CollisionRequest<typename BV::S>& request,
+                             CollisionResult<typename BV::S>& result,
+                             typename BV::S& toc)
+{
+
+  MeshConservativeAdvancementTraversalNode<BV> node;
+
+  return conservativeAdvancementExec(node, o1, motion1, o2, motion2, request, result, toc);
+
+}
+
+
+template<typename S>
+bool conservativeAdvancement(const BVHModel<RSS<S>>& o1,
+                             const MotionBase<S>* motion1,
+                             const BVHModel<RSS<S>>& o2,
+                             const MotionBase<S>* motion2,
+                             const CollisionRequest<S>& request,
+                             CollisionResult<S>& result,
+                             S& toc)
+{
+
+  MeshConservativeAdvancementTraversalNodeRSS<S> node;
+
+  return conservativeAdvancementExec(node, o1, motion1, o2, motion2, request, result, toc);
+}
+
+template<typename S>
+bool conservativeAdvancement(const BVHModel<OBBRSS<S>>& o1,
+                             const MotionBase<S>* motion1,
+                             const BVHModel<OBBRSS<S>>& o2,
+                             const MotionBase<S>* motion2,
+                             const CollisionRequest<S>& request,
+                             CollisionResult<S>& result,
+                             S& toc)
+{
+
+  MeshConservativeAdvancementTraversalNodeOBBRSS<S> node;
+
+  return conservativeAdvancementExec(node, o1, motion1, o2, motion2, request, result, toc);
+}
+
 template<typename BV, typename ConservativeAdvancementOrientedNode>
 bool conservativeAdvancementMeshOriented(const BVHModel<BV>& o1,
                                          const MotionBase<typename BV::S>* motion1,
diff --git a/include/fcl/narrowphase/detail/traversal/distance/mesh_conservative_advancement_traversal_node-inl.h b/include/fcl/narrowphase/detail/traversal/distance/mesh_conservative_advancement_traversal_node-inl.h
index 44ddde5fe..ee0dbce16 100644
--- a/include/fcl/narrowphase/detail/traversal/distance/mesh_conservative_advancement_traversal_node-inl.h
+++ b/include/fcl/narrowphase/detail/traversal/distance/mesh_conservative_advancement_traversal_node-inl.h
@@ -57,9 +57,9 @@ class FCL_EXPORT MeshConservativeAdvancementTraversalNodeRSS<double>;
 extern template
 bool initialize(
     MeshConservativeAdvancementTraversalNodeRSS<double>& node,
-    const BVHModel<RSS<double>>& model1,
+    BVHModel<RSS<double>>& model1,
     const Transform3<double>& tf1,
-    const BVHModel<RSS<double>>& model2,
+    BVHModel<RSS<double>>& model2,
     const Transform3<double>& tf2,
     double w);
 
@@ -71,9 +71,9 @@ class FCL_EXPORT MeshConservativeAdvancementTraversalNodeOBBRSS<double>;
 extern template
 bool initialize(
     MeshConservativeAdvancementTraversalNodeOBBRSS<double>& node,
-    const BVHModel<OBBRSS<double>>& model1,
+    BVHModel<OBBRSS<double>>& model1,
     const Transform3<double>& tf1,
-    const BVHModel<OBBRSS<double>>& model2,
+    BVHModel<OBBRSS<double>>& model2,
     const Transform3<double>& tf2,
     double w);
 
@@ -776,9 +776,9 @@ bool setupMeshConservativeAdvancementOrientedDistanceNode(
 template <typename S>
 bool initialize(
     MeshConservativeAdvancementTraversalNodeRSS<S>& node,
-    const BVHModel<RSS<S>>& model1,
+    BVHModel<RSS<S>>& model1,
     const Transform3<S>& tf1,
-    const BVHModel<RSS<S>>& model2,
+    BVHModel<RSS<S>>& model2,
     const Transform3<S>& tf2,
     S w)
 {
@@ -790,9 +790,9 @@ bool initialize(
 template <typename S>
 bool initialize(
     MeshConservativeAdvancementTraversalNodeOBBRSS<S>& node,
-    const BVHModel<OBBRSS<S>>& model1,
+    BVHModel<OBBRSS<S>>& model1,
     const Transform3<S>& tf1,
-    const BVHModel<OBBRSS<S>>& model2,
+    BVHModel<OBBRSS<S>>& model2,
     const Transform3<S>& tf2,
     S w)
 {
diff --git a/include/fcl/narrowphase/detail/traversal/distance/mesh_conservative_advancement_traversal_node.h b/include/fcl/narrowphase/detail/traversal/distance/mesh_conservative_advancement_traversal_node.h
index be72620e6..a9d6f36df 100644
--- a/include/fcl/narrowphase/detail/traversal/distance/mesh_conservative_advancement_traversal_node.h
+++ b/include/fcl/narrowphase/detail/traversal/distance/mesh_conservative_advancement_traversal_node.h
@@ -49,13 +49,14 @@ namespace detail
 {
 
 /// @brief continuous collision node using conservative advancement. when using this default version, must refit the BVH in current configuration (R_t, T_t) into default configuration
-template <typename BV>
+template <typename BV_>
 class FCL_EXPORT MeshConservativeAdvancementTraversalNode
-    : public MeshDistanceTraversalNode<BV>
+    : public MeshDistanceTraversalNode<BV_>
 {
 public:
 
-  using S = typename BV::S;
+  typedef BV_ BV;
+  typedef typename BV::S S;
 
   MeshConservativeAdvancementTraversalNode(S w_ = 1);
 
@@ -153,9 +154,9 @@ template <typename S>
 FCL_EXPORT
 bool initialize(
     MeshConservativeAdvancementTraversalNodeRSS<S>& node,
-    const BVHModel<RSS<S>>& model1,
+    BVHModel<RSS<S>>& model1,
     const Transform3<S>& tf1,
-    const BVHModel<RSS<S>>& model2,
+    BVHModel<RSS<S>>& model2,
     const Transform3<S>& tf2,
     S w = 1);
 
@@ -202,9 +203,9 @@ template <typename S>
 FCL_EXPORT
 bool initialize(
     MeshConservativeAdvancementTraversalNodeOBBRSS<S>& node,
-    const BVHModel<OBBRSS<S>>& model1,
+    BVHModel<OBBRSS<S>>& model1,
     const Transform3<S>& tf1,
-    const BVHModel<OBBRSS<S>>& model2,
+    BVHModel<OBBRSS<S>>& model2,
     const Transform3<S>& tf2,
     S w = 1);
 
diff --git a/src/narrowphase/detail/traversal/distance/mesh_conservative_advancement_traversal_node.cpp b/src/narrowphase/detail/traversal/distance/mesh_conservative_advancement_traversal_node.cpp
index ed7d8cc0a..b262e234e 100644
--- a/src/narrowphase/detail/traversal/distance/mesh_conservative_advancement_traversal_node.cpp
+++ b/src/narrowphase/detail/traversal/distance/mesh_conservative_advancement_traversal_node.cpp
@@ -51,9 +51,9 @@ class MeshConservativeAdvancementTraversalNodeRSS<double>;
 template
 bool initialize(
     MeshConservativeAdvancementTraversalNodeRSS<double>& node,
-    const BVHModel<RSS<double>>& model1,
+    BVHModel<RSS<double>>& model1,
     const Transform3<double>& tf1,
-    const BVHModel<RSS<double>>& model2,
+    BVHModel<RSS<double>>& model2,
     const Transform3<double>& tf2,
     double w);
 
@@ -65,9 +65,9 @@ class MeshConservativeAdvancementTraversalNodeOBBRSS<double>;
 template
 bool initialize(
     MeshConservativeAdvancementTraversalNodeOBBRSS<double>& node,
-    const BVHModel<OBBRSS<double>>& model1,
+    BVHModel<OBBRSS<double>>& model1,
     const Transform3<double>& tf1,
-    const BVHModel<OBBRSS<double>>& model2,
+    BVHModel<OBBRSS<double>>& model2,
     const Transform3<double>& tf2,
     double w);