Hi

I have two questions about collisions in PhysX. I’m currently implementing an algorithm for haptics, and therefore need the mass matrix of a physX object. I use physx::PxRigidStatic and physx::PxRigidDynamic objects. Is there a function that gives me the mass matrix?

And how do I get the collision points in the local coordinate system of the object, and not in world coordinates?

Thanks,

Robert