From 42f63f4c0e095449fea0e1c97ddd1ac60e0f27fd Mon Sep 17 00:00:00 2001
From: Justin Carpentier <justin.carpentier@inria.fr>
Date: Tue, 5 Apr 2022 08:54:55 +0200
Subject: [PATCH 1/2] cmake: sync submodule

---
 cmake | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/cmake b/cmake
index 332976cc4..3d6176d43 160000
--- a/cmake
+++ b/cmake
@@ -1 +1 @@
-Subproject commit 332976cc4d5305256c79a479e55ad7ab2ecc42f1
+Subproject commit 3d6176d439963702d97b82555e3007de05a4e6a4

From 16dec3efe53cf6e7a75c2316497583117bc2f033 Mon Sep 17 00:00:00 2001
From: Justin Carpentier <justin.carpentier@inria.fr>
Date: Tue, 5 Apr 2022 15:59:05 +0200
Subject: [PATCH 2/2] python: fix distance method for DistanceCallBackBase

---
 python/broadphase/broadphase_callbacks.hh | 16 +++++++++++++---
 1 file changed, 13 insertions(+), 3 deletions(-)

diff --git a/python/broadphase/broadphase_callbacks.hh b/python/broadphase/broadphase_callbacks.hh
index 61f4fd346..fd21c4cae 100644
--- a/python/broadphase/broadphase_callbacks.hh
+++ b/python/broadphase/broadphase_callbacks.hh
@@ -74,10 +74,16 @@ struct CollisionCallBackBaseWrapper : CollisionCallBackBase,
 struct DistanceCallBackBaseWrapper : DistanceCallBackBase,
                                      bp::wrapper<DistanceCallBackBase> {
   typedef DistanceCallBackBase Base;
+  typedef DistanceCallBackBaseWrapper Self;
 
   void init() { this->get_override("init")(); }
-  bool distance(CollisionObject* o1, CollisionObject* o2) {
-    return this->get_override("distance")(o1, o2);
+  bool distance(CollisionObject* o1, CollisionObject* o2,
+                Eigen::Matrix<double, 1, 1>& dist) {
+    return distance(o1, o2, dist.coeffRef(0, 0));
+  }
+
+  bool distance(CollisionObject* o1, CollisionObject* o2, FCL_REAL& dist) {
+    return this->get_override("distance")(o1, o2, dist);
   }
 
   static void expose() {
@@ -85,7 +91,11 @@ struct DistanceCallBackBaseWrapper : DistanceCallBackBase,
         "DistanceCallBackBase", bp::no_init)
         .def("init", bp::pure_virtual(&Base::init),
              doxygen::member_func_doc(&Base::init))
-        .def("distance", bp::pure_virtual(&Base::distance),
+        .def("distance",
+             bp::pure_virtual(
+                 static_cast<bool (Self::*)(
+                     CollisionObject * o1, CollisionObject * o2,
+                     Eigen::Matrix<double, 1, 1> & dist)>(&Self::distance)),
              doxygen::member_func_doc(&Base::distance))
         .def("__call__", &Base::operator(),
              doxygen::member_func_doc(&Base::operator()));