Geometry queries not working as expected

[gabrielecaddeo]

Hi, I would like to use the API to detect compenetration between objects. I am starting by using the PxGeometryQuery::computePenetration with two boxes that are compenetrating, according to their poses (pose0 and pose1).

Unfortunately, the method PxGeometryQuery::computePenetration is returning 0 (i.e. no compenetration) while I was expecting the opposite. I am attaching the code below.

#define NDEBUG
#include "PxPhysicsAPI.h"
#include <iostream>
using namespace physx;

PxDefaultAllocator      gAllocator;
PxDefaultErrorCallback  gErrorCallback;
PxFoundation*           gFoundation = NULL;
PxPhysics*      gPhysics = NULL;

int main (int argc, char** argv)
{
    gFoundation = PxCreateFoundation(PX_PHYSICS_VERSION, gAllocator, gErrorCallback);
    if(!gFoundation)
        std::cout<<"PxCreateFoundation failed!"<<std::endl;

    gPhysics = PxCreatePhysics(PX_PHYSICS_VERSION, *gFoundation, PxTolerancesScale(),true);
    if(!gPhysics)
        exit(0);

    PxTransform pose0 (0.0, 0.0, 0.0);
    PxTransform pose1 (0.1, 0.0, 0.0);
    PxBoxGeometry box0(0.1, 0.1, 0.1);
    PxBoxGeometry box1(0.1, 0.1, 0.1);
    PxGeometry box0_geom(box0);
    PxGeometry box1_geom(box1);

    PxVec3 direction ;
    PxF32 depth;

    bool isPenetrating = PxGeometryQuery::computePenetration(direction, depth, box0_geom, pose0, box1_geom, pose1);

    std::cout<<isPenetrating<<std::endl;

    gPhysics->release();
    gFoundation->release();

    return 0;
}

Is there something wrong that I am doing or am I missing something?

[PierreTerdiman]

You don't need these two lines:

PxGeometry box0_geom(box0);
PxGeometry box1_geom(box1);

Just pass box0 and box1 directly to the computePenetration function instead.

[gabrielecaddeo]

Thank you very much @PierreTerdiman , issue solved.