How to correctly handle Mesh to Mesh collision checking?

[Levi-Armstrong]

This seems to only be an issue when using FCL to collision check Mesh to Mesh using compute distance request when the two objects are in collision. When using primitive shapes and convex hulls this does not seem to be an issue because there is only ever one contact results, but for mesh to mesh and mesh to primitive/convex there are multiple contacts. Though when using distance there is no way to get all contacts when an a collision occurs between these two shapes. Is the correct way using FCL to detect this when using compute distance and the call the collide method?

[Dmitry-Sedov]

I faced the same problem. I used DynamicAABBTreeCollisionManagerd as a collision manager and put there all objects I had in the scene and then I used my variant of collision function that is defined in
void DynamicAABBTreeCollisionManager<S>::collide(void* cdata, CollisionCallBack<S> callback) const
In my callback I just saved all contacts fit to my expectations.