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I am very new and I am answering with every doubt, but following fcl:


// Given two objects o1 and o2

CollisionObject* o1 = ...

CollisionObject* o2 = ...

// set the collision request structure, here we just use the default setting

CollisionRequest request;

// result will be returned via the collision result structure

CollisionResult result;

// perform collision test

collide(o1, o2, request, result);

By setting the collision request, the user can easily choose whether to return contact information (which is slower) or just return binary collision results (which is faster).


I have come to understand that flag is necessary only to validate that collision test was performed successfully. What you are looking for (the outcome of collision) is the result variable.