Ability to query distances between bodies

Hi could we please get the ability to query the distance between two bodies in the environment for isaac gym? I see that the PhysX 3.4 that Isaac Gym is currently using has this capability but is not exposed:

https://docs.nvidia.com/gameworks/content/gameworkslibrary/physx/guide/Manual/GeometryQueries.html

1 Like

I also want to ask this question, but I feel that I should be able to achieve it with point cloud?

What do you mean by the distances between bodies? smallest distance between meshes? distance between center of gravities?

I think it’s sending a ray from a point, detecting the distance between objects that intersect the ray, and even querying the information about the objects that the ray intersects.

1 Like