Hi.
Specifically I have two prims(one represents robot and the other one has a simple shape,eg, cube), and I have turned off the collision of the cube so that I can allow my robot to traverse in that cubic regime
I want to know if there is function that is able to compute the overlaping volume between the two, in other words, I want to compute the accurate volume of my robot in that region.
I am thinking of class omni.physx.bindings._physx.PhysXSceneQuery but I don’t think in phyX there is a function that can directly return the overlaping volume given two prim paths, for instance.
Of course, simple boundingbox methods doesn’t satisfy my precision requriment. So I am think is there any advanced function in PhyX or extensions?
I had the same issue, in Isaac there is a workaround in the UI atleast for 4.5.0, you can read the mass properties of a prim (Tools → Physics toolbar, and enable Mass Distribution Manipulator). If you set the density of the object to a fixed value and mass auto-generated, you then have the mass and density, so you can calculate the volume yourself with mass/density == volume. Just make sure you know what units the stage is using (I was using a stage in cm and kg and got some values I didn’t understand using densities at around ~1000 kg/cm3 :) )
I dunno if you can get the density and mass from the API though?