Flexible collision library usage

edit

I am new to fcl library. I am looking into the test code provided with the repository to learn about its usage. I would like to ask a question about the features provided by the library. I am in need to compute not just if two objects collide but also what percent of the second object is colliding with the first object. From what I have looked into so far, the "CollisionResult" struct defined in collision_result.h file is the data returned when DynamicAABBTreeCollisionManager.collide() is invoked. Could someone who is familiar fcl library help me in figuring out how to compute the percent of collision between two objects(more precisely, what percent of the 2nd object will be occluded if added into the scene containing the first object)?