Fast Collision-Checking Between Two Bodies

Hi Omniverse dev team,

We are trying to check for contact between two arbitrary bodies (to make it easy, let’s assume rigid bodies). Is there an exposed API to easily check for this?

From the docs, it seems that the intended method is to apply contact sensors to bodies you want to check contacts for, but when we apply a contact sensor to every rigid body in our environment (> 100 sensors total), the simulation is significantly slowed down, likely due to CCD being toggled on when the contact sensor is applied.

Is there a way to instead poll specific contact between two bodies on demand? (similar to pybullet’s GetContactPoints.


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