diff --git a/CHANGELOG.md b/CHANGELOG.md
index 91adae9bc..0e64e814b 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -8,6 +8,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 ### Fixed
 - CachedMeshLoader checks file last modification time.
+- Fix call to clear methods for {Collision,Distance}Data inside init function ([#509](https://github.com/humanoid-path-planner/hpp-fcl/pull/509))
 
 ## [2.4.0] - 2023-11-27
 
diff --git a/include/hpp/fcl/broadphase/default_broadphase_callbacks.h b/include/hpp/fcl/broadphase/default_broadphase_callbacks.h
index c34a871ec..bf240fded 100644
--- a/include/hpp/fcl/broadphase/default_broadphase_callbacks.h
+++ b/include/hpp/fcl/broadphase/default_broadphase_callbacks.h
@@ -64,6 +64,12 @@ struct CollisionData {
 
   /// @brief Whether the collision iteration can stop
   bool done;
+
+  /// @brief Clears the CollisionData
+  void clear() {
+    result.clear();
+    done = false;
+  }
 };
 
 /// @brief Distance data stores the distance request and the result given by
@@ -79,6 +85,12 @@ struct DistanceData {
 
   /// @brief Whether the distance iteration can stop
   bool done;
+
+  /// @brief Clears the DistanceData
+  void clear() {
+    result.clear();
+    done = false;
+  }
 };
 
 /// @brief Provides a simple callback for the collision query in the
@@ -183,6 +195,10 @@ bool defaultDistanceFunction(CollisionObject* o1, CollisionObject* o2,
 /// @brief Default collision callback to check collision between collision
 /// objects.
 struct HPP_FCL_DLLAPI CollisionCallBackDefault : CollisionCallBackBase {
+  /// @brief Initialize the callback.
+  /// Clears the collision result and sets the done boolean to false.
+  void init() { data.clear(); }
+
   bool collide(CollisionObject* o1, CollisionObject* o2);
 
   CollisionData data;
@@ -193,6 +209,10 @@ struct HPP_FCL_DLLAPI CollisionCallBackDefault : CollisionCallBackBase {
 /// @brief Default distance callback to check collision between collision
 /// objects.
 struct HPP_FCL_DLLAPI DistanceCallBackDefault : DistanceCallBackBase {
+  /// @brief Initialize the callback.
+  /// Clears the distance result and sets the done boolean to false.
+  void init() { data.clear(); }
+
   bool distance(CollisionObject* o1, CollisionObject* o2, FCL_REAL& dist);
 
   DistanceData data;
diff --git a/python/broadphase/broadphase.cc b/python/broadphase/broadphase.cc
index 8f4dac9bf..49953bcb0 100644
--- a/python/broadphase/broadphase.cc
+++ b/python/broadphase/broadphase.cc
@@ -90,13 +90,15 @@ void exposeBroadPhase() {
       .def(dv::init<CollisionData>())
       .DEF_RW_CLASS_ATTRIB(CollisionData, request)
       .DEF_RW_CLASS_ATTRIB(CollisionData, result)
-      .DEF_RW_CLASS_ATTRIB(CollisionData, done);
+      .DEF_RW_CLASS_ATTRIB(CollisionData, done)
+      .DEF_CLASS_FUNC(CollisionData, clear);
 
   bp::class_<DistanceData>("DistanceData", bp::no_init)
       .def(dv::init<DistanceData>())
       .DEF_RW_CLASS_ATTRIB(DistanceData, request)
       .DEF_RW_CLASS_ATTRIB(DistanceData, result)
-      .DEF_RW_CLASS_ATTRIB(DistanceData, done);
+      .DEF_RW_CLASS_ATTRIB(DistanceData, done)
+      .DEF_CLASS_FUNC(DistanceData, clear);
 
   BroadPhaseCollisionManagerWrapper::expose();