.def("numContacts",&CollisionResult::numContacts,"Returns the number of contacts found")
.def("numCostSources",&CollisionResult::numCostSources,"Returns the number of cost sources found")
.def("clear",&CollisionResult::clear,"Clears the results obtained")
.def("getContacts",&CollisionResult::getContacts,"Get all the contacts",bp::return_internal_reference<>())
.def("getContact",&CollisionResult::getContact,bp::arg("index"),"Get the i-th contact calculated",bp::return_value_policy<bp::copy_const_reference>())
.def_readwrite("distance_lower_bound",&CollisionResult::distance_lower_bound,"Lower bound on distance between objects if they are disjoint (computed only on request).")