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I have few actors with custom, non convex geometry (mesh) created using PxRigidActorExt::createExclusiveShape and a lot of actors with PxSphereGeometry geometry. Now I want to check if these spheres are colliding or are inside my custom geometries. I have created PxSimulationEventCallback with onContact method, but it only gives me info about collisions.

How can I get info if my spheres are inside my custom geometry?

I have few actors with custom, non convex geometry (mesh) created using PxRigidActorExt::createExclusiveShape and a lot of actors with PxSphereGeometry geometry. Now I want to check if these spheres are colliding or are inside my custom geometries. I have created PxSimulationEventCallback with onContact method, but it only gives me info about collisions.

How can I get info if my spheres are inside my custom geometry?

Edit: It doesn't have to work in "real-time", it can be much slower.

I have few actors with custom geometry (mesh) created using PxRigidActorExt::createExclusiveShape and a lot of actors with PxSphereGeometry geometry. Now I want to check if these spheres are colliding or are inside my custom geometries. I have created PxSimulationEventCallback with onContact method, but it only gives me info about collisions.

How can I get info if my spheres are inside my custom geometry?

I have few actors with custom, non convex geometry (mesh) created using PxRigidActorExt::createExclusiveShape and a lot of actors with PxSphereGeometry geometry. Now I want to check if these spheres are colliding or are inside my custom geometries. I have created PxSimulationEventCallback with onContact method, but it only gives me info about collisions.

How can I get info if my spheres are inside my custom geometry?