--- a/python/prediction.py	Tue Mar 14 17:10:35 2017 -0400
+++ b/python/prediction.py	Tue Mar 14 17:48:40 2017 -0400
@@ -558,9 +558,9 @@
         PredictionParameters.__init__(self, 'constant velocity (direct exact computation)', None)
 
     def computeCrossingsCollisionsAtInstant(self, currentInstant, obj1, obj2, collisionDistanceThreshold, timeHorizon, computeCZ = False, debug = False, *kwargs):
-        'TODO add collision point coordinates, compute pPET'
-        #collisionPoints = []
-        #crossingZones = []
+        'TODO compute pPET'
+        collisionPoints = []
+        crossingZones = []
 
         p1 = obj1.getPositionAtInstant(currentInstant)
         p2 = obj2.getPositionAtInstant(currentInstant)
@@ -570,10 +570,12 @@
 
         if intersection is not None:
             ttc = moving.Point.timeToCollision(p1, p2, v1, v2, collisionDistanceThreshold)
-            if ttc:
-                return currentInstant, [SafetyPoint(intersection, 1., ttc)], [] # (p1+v1.multiply(ttc)+p2+v2.multiply(ttc)).multiply(0.5)
+            if ttc is not None:
+                collisionPoints = SafetyPoint(intersection, 1., ttc)
             else:
-                return currentInstant, [],[]
+                pass # compute pPET
+
+        return currentInstant, collisionPoints, crossingZones
 
 ####
 # Other Methods