How to calculate only the result of binary collisions, without returning the distance？

[lanmo0923]

env:
pyhton=3.8
tesseract-robotics=0.4.0

Even though I set the checker not to calculate the distance, it still returned the distance in the results.

set checker

checker=t_env.getDiscreteContactManager("FCLDiscreteBVHManager")
checker.setCollisionMarginData(tesseract_common.CollisionMarginData(1))
Request = tesseract_collision.ContactRequest(tesseract_collision.ContactTestType_FIRST)  
Request.calculate_distance = False 
Request.calculate_penetration =False

Return result

collision_data = ContactResultMap()  
checker.contactTest(collision_data, Request)
result_vector = tesseract_collision.ContactResultVector()
collision_data.flattenMoveResults(result_vector)
for i in range(len(result_vector)):
    print(result_vector[i].link_names[0], result_vector[i].link_names[1])
    print("distance", result_vector[i].distance)
 

[Levi-Armstrong]

Set the contact distance to zero tesseract_common.CollisionMarginData(0). Since you set it to 1 it must compute distance to determine if two shapes violate this threshold.