Warning: distance function between node type 2 and node type 2 is not supported

[WangZP10969]

I am using the BVH model to calculate the closest distance between triangles, using the default fcl::DistanceRequestd and fcl::DistanceResultd, and then calling fcl::distance

fcl::DistanceRequestd DistanceRequest(false, false);
fcl::DistanceResultd DistanceResult;
fcl::distance(CollisionObject1.get(), CollisionObject2.get(), DistanceRequest, DistanceResult);

Console output warning

Warning: distance function between node type 2 and node type 2 is not supported

What could cause this?

[jmirabel]

To resolve such kind of issue, you can have a look at the source code.
Maybe your two BVH do not use the same type of bounding volumes.

[WangZP10969]

@jmirabel
Thank you very much for your suggestions. I found that BV_AABB and GEOM_BOX were calculated during my distance calculation.
I use BV_RSS to replace them.