Compute Geometry Penetrations#

Compute penetration depth and direction between geometries (currently supports meshes prims)

Installation#

To use this node enable omni.physx.graph in the Extension Manager.

Name	Type	Descripton	Default
Exec In (inputs:execIn)	`execution`	Input execution	None
Overlaps Pair0 (inputs:overlapsPair0)	`token[]`	Path of the first geometry from the Prims Bundle to check for penetration with corresponding item at same index in overlapsPair1 input attribute.	[]
Overlaps Pair1 (inputs:overlapsPair1)	`token[]`	Path of the second geometry from the Prims Bundle to check for penetration with corresponding item at same index in overlapsPair0 input attribute	[]
Prims Bundle (inputs:primsBundle)	`bundle`	The prims of interest. It must be a bundle with one or more prim children. Currently only meshes prim are supported (sourcePrimType == ‘Mesh’). Penetration vectors are not computed when both sides of a pair use triangle mesh approximation. Penetration computation only works if the (optional) ‘physics:approximation’ of one of the two overlap pair to check is not ‘triangle mesh’ (can be ‘convex mesh’). From each Mesh prim child reads: - ‘sourecePrimPath’ - ‘sourcePrimType’ - ‘points’ - ‘faceVertexIndices’ - ‘faceVertexCounts’ - ‘worldMatrix’ - ‘sourcePrimPath’ (and optionally ‘holeIndices’, ‘orientation’, ‘meshKey’ and ‘physics:approximation’) attributes	None

Name	Type	Descripton	Default
Exec Out (outputs:execOut)	`execution`	Output execution	None
Overlaps (outputs:overlaps)	`bool[]`	Array of booleans where ‘True’ value signals that a corresponding pair of meshes in overlapsPair0 and overlapsPair1 input arrays at the same index do actually overlap.	None
Penetration Depths (outputs:penetrationDepths)	`float[]`	Array of penetration depths values of the corresponding pair of meshes in overlapsPair0 and overlapsPair1 input arrays at the same index.	None
Penetration Vectors (outputs:penetrationVectors)	`normalf[3][]`	Array of penetration normals of the corresponding pair of meshes in overlapsPair0 and overlapsPair1 input arrays at the same index.	None

Name	Value
Unique ID	omni.physx.graph.ImmediateComputeGeometryPenetrations
Version	1
Extension	omni.physx.graph
Has State?	False
Implementation Language	C++
Default Memory Type	cpu
Generated Code Exclusions	python, tests
tags	physics,physx,simulation,collision,broadphase,bounding,immediate
uiName	Compute Geometry Penetrations
__tokens	{}
Categories	PhysX Immediate Queries
Generated Class Name	OgnPhysXImmediateComputeGeometryPenetrationsDatabase
Python Module	omni.physxgraph