Contact report callbacks dont provide contact information for triangle mesh geometries

[SumantBagri]

Hi,

I am trying to get contact information (number of contacts in every frame) for a scene with RigidStatic boxes and RigidKinematic boxes. I created two snippets to contrast between the primitive box shape (PxBoxGeometry) and another one using PxTriangleMeshGeometry. The primitive box geometry is able to provide contact information through a custom ContactReportCallback without any problems. However, using the same callback with PxTriangleMeshGeometry does not provide any contact information

E.g

1. Kinematic Primitive Boxes (lower) colliding with Static Primitive Boxes (upper)

2. Kinematic Triangle Mesh Boxes (lower) colliding with Static Triangle Mesh Boxes (upper)

(Refer FrameIds 29-35)

Here are my snippets for the above tests
snippetkinematiccontactreport.zip
snippetkinematicmeshcontactreport.zip

I would be grateful to know if I am doing something wrong or if it is even possible to get contact information for static<>kinematic mesh collision from the callback

[SumantBagri]

After some trial and error, it seems like contact generation using contact report callbacks with kinematic triangle mesh and static triangle mesh collision objects is not supported. However, contact reports with kinematic convex mesh and static triangle mesh is supported

(example snippet demonstrating that: snippetkinematichullcontactreport.zip )

The main reason that I was looking into this is because I wasn't able to get contact information from PxSimulationStatistics when executing the GPU accelerated collision checking pipeline. It is able to give number of "potential pairs" from broadphase (PxSimulationStatistics::nbDiscreteContactPairsTotal), but does not give number of contact pairs with atleast one contact (PxSimulationStatistics::nbDiscreteContactPairsWithContacts). However, it seems you can get it from the callback

It would be great to know if my understanding is accurate or not.

Additionally, is there a way to get penetration depth from the custom callback ? If yes, could you point me to an example snippet ?