Collision detection does not work proper

Omniverse General Discussion
1

I tried to make an example for collision checking of 2 prims in a behavior script. Unfortunately doesn’t give the expected result. It worked for or 2 times when I tried it in the debugger, but refused to call the “on_contact_report_ActCollision”

Here is my code:
from omni.kit.scripting import BehaviorScript
from pxr import PhysicsSchemaTools, PhysxSchema, UsdPhysics
from omni.physx import get_physx_simulation_interface
import math
import time

class Actcollision(BehaviorScript):
def on_init(self):
print(f"{class.name}.on_init()->{self.prim_path}")

def on_destroy(self):
    print(f"{__class__.__name__}.on_destroy()->{self.prim_path}")

def on_play(self):
    print(f"{__class__.__name__}.on_play()->{self.prim_path}")
    my_prim = self.stage.GetPrimAtPath('/World/Cube')

    contactReportAPI = PhysxSchema.PhysxContactReportAPI.Apply(my_prim)
    contact_report_sub = get_physx_simulation_interface().subscribe_contact_report_events(self.on_contact_report_ActCollision)
    contactReportAPI.CreateThresholdAttr().Set(1)

def on_contact_report_ActCollision(self, contact_headers, contact_data):

    for contact_header in contact_headers:
        # instigator
        act0_path = str(PhysicsSchemaTools.intToSdfPath(contact_header.actor0))
        # recipient
        act1_path = str(PhysicsSchemaTools.intToSdfPath(contact_header.actor1))
        if act0_path.find("Station") or  act0_path.find("Cube"):
            print(act0_path)
2

Hi,
could it be that the contact threshold is too high?
Another note, I dont think its possible to add contact report API while simulation is already running, can you please make sure that the contact report API is on that prim before you press play?
Regards,
Ales