[Question] How to retrieve nearest points between two PhysX rigid bodies (non-colliding distance query)?

[hojae-io]

Hi,

I want to retrieve the nearest points between two rigid bodies, even when they are not colliding.

For instance, when there are a sphere and a cylinder that are not in contact, I need to know the nearest points in each rigid body and the distance. (or even an arbitrary mesh generated from URDF)

What would be the most correct way to get this information? Is there any underlying PhysX function for it?

I would need them for constraint setting in an optimization problem.

Thank you!

[RandomOakForest]

Thank you for posting this. There is currently no off-the-shelf method for this if there is no contact between the rigid bodies. You may want to check the PhysX geometry docs to see if there is something that may suit your needs. I'll move this post to our Discussions for follow up.