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Is there an easy way to measure the distance between two meshes?

Like the title says, I'm looking for an easy way to calculate the distance between two meshes.

The meshes are the collision elements of two links.

Is there an easy way to implement this or do I have to use the flexible collision library (fcl), extract the meshes from all the links and then feed that to fcl?

I can't really believe that there is no implementation of this already, but I couldn't find anything.