How can i calculate all the contact triangles pairs in hpp::fcl::BVHModel<hpp::fcl::OBBRSS>?

[damengziuu]

I want to use this library to calculate all the triangle pairs that come into contact when two convex bodies come into contact. But now I can only get the boundary of the intersecting convex bodies.
How should I solve this problem? I'll make sure I set more pieces to detect than triangles

Here is my code:
// Initial position
Transform3f tf1; // identity
Transform3f tf2; // identity
Eigen::MatrixXd tR1(3, 3),tR2(3, 3);
Eigen::MatrixXd tT1(3, 1),tT2(3, 1);
tR1 << 1.0000000000000000, 0, 0,
0, 1, 0,
0, 0, 1;
tT1 << 0.25900000099999998,
0.091704199000000000,
0.14302674900000001;
tf1.setRotation(tR1);
tf1.setTranslation(tT1);

tR2 << 1.0000000000000000, 0, 0,
	0, 1, 0,
	0, 0, 1;
tT2 << 0.26099999699999998,
	0.16467816463778484,
	0.18763962100000001;
tf2.setRotation(tR2);
tf2.setTranslation(tT2);

// 读文件 Isurf-ID 和 Jsurf-ID 
std::shared_ptr<std::vector<Triangle>> IsurfTri(new std::vector<Triangle>);
std::shared_ptr<std::vector<Triangle>> JsurfTri(new std::vector<Triangle>);
parseTriIdFile("D:/Demo/TestReadFile/0.02sFile/IsurfTriID.txt",
	IsurfTri);

parseTriIdFile("D:/Demo/TestReadFile/0.02sFile/JsurfTriID.txt",
	JsurfTri);

// read file points position 
std::shared_ptr < std::vector<Vec3f>> Ipos(new std::vector<Vec3f>);
std::shared_ptr < std::vector<Vec3f>> Jpos(new std::vector<Vec3f>);
parseTriPosFile("D:/Demo/TestReadFile/0.02sFile/IsurfTriPointRapid.txt",
	Ipos);
parseTriPosFile("D:/Demo/TestReadFile/0.02sFile/JsurfTriPointRapid.txt",
	Jpos);


CollisionResult col_res;
const ContactPatchRequest patch_req;
ContactPatchResult patch_res(patch_req);
CollisionRequest col_req(CollisionRequestFlag::DISTANCE_LOWER_BOUND, (*Jpos).size());
col_req.distance_upper_bound = 0.1;


hpp::fcl::BVHModel<hpp::fcl::OBBRSS> iSurfMesh;
iSurfMesh.beginModel();
iSurfMesh.addSubModel(*Ipos, *IsurfTri);
iSurfMesh.endModel();

hpp::fcl::BVHModel<hpp::fcl::OBBRSS> jSurfMesh;
jSurfMesh.beginModel();
jSurfMesh.addSubModel(*Jpos, *JsurfTri);
jSurfMesh.endModel();

col_res.clear(); 
patch_res.clear();
hpp::fcl::collide(&iSurfMesh, tf1, &jSurfMesh, tf2, col_req, col_res); 
std::cout << col_res.isCollision() << "\n";
std::cout << col_res.numContacts() << "\n";

// Take surf id
std::vector<int> salveContactId;
std::vector<int> masterContactId;
std::vector<std::pair<size_t, size_t>> contactPairs;
// show the penetration_depth
for (auto singelCol:col_res.getContacts())
{
	salveContactId.emplace_back(singelCol.b2);
	masterContactId.emplace_back(singelCol.b1);
	contactPairs.emplace_back(std::make_pair(singelCol.b1, singelCol.b2));
}

my result: