@ahaidu makes sense, I didnt notice that.
The logic is set up and everything should work as expected but now I am dealling with another Issue where the triggered collisions are not always detected.
because of this issue, I think its best to use get_physx_scene_query_interface().overlap_box.
This is my code:
def is_overlapping(self, prim):
# get extent of the object from the bounding box
cache = bounds_utils.create_bbox_cache(time=timeline.get_current_time())
mesh_paths = AssetsHelper.get_prim_meshes_paths(prim)
overlapping = False
for _mesh_path in mesh_paths:
bounds = bounds_utils.compute_combined_aabb(cache, prim_paths=[_mesh_path])
usd_bounds = Gf.Range3d((bounds[0], bounds[1], bounds[2]), # min
(bounds[3], bounds[4], bounds[5])) # max
_extent = usd_bounds.GetSize()
extent = carb.Float3(_extent[0], _extent[1], _extent[2])
mesh_prim = self.stage.GetPrimAtPath(_mesh_path)
global_position, global_rotation, _ = Utils.get_global_transform_xform(mesh_prim)
#get origin from the object's global position
origin = carb.Float3(global_position[0], global_position[1], global_position[2])
# get rotation from the object's global rotation
quaternion = Utils.euler_to_quaternion(global_rotation[0], global_rotation[1], global_rotation[2])
rotation = carb.Float4(quaternion[0], quaternion[1], quaternion[2], quaternion[3])
# physX query to detect number of hits for a cubic region
#carb.log_warn(f"Checking for overlap for {prim.GetName()}. Origin: {origin}, Rotation: {rotation}, Extent: {extent}")
numHits = get_physx_scene_query_interface().overlap_box(extent, origin, rotation, self.report_hit, False)
if numHits > 0:
# carb.log_warn(f"Object {prim.GetName()} is overlapping with {numHits} objects")
overlapping = True
break
return overlapping
def report_hit(self, hit):
# When a collision is detected, the object color changes to red.
hitColor = Vt.Vec3fArray([Gf.Vec3f(180.0 / 255.0, 16.0 / 255.0, 0.0)])
usdGeom = UsdGeom.Mesh.Get(self.stage, hit.rigid_body)
usdGeom.GetDisplayColorAttr().Set(hitColor)
carb.log_warn(f"Object {hit} is overlapping with objects")
return True
numHits is always one, and report_hit is always entered for every prim.
any Idea what could be wrong here? Utils is my own class and I know it works as expected since we’ve been using these function to record odometry and IMU of the robot for a few months.