Problem of interpenetration

I create random bodies composed of blocks and joints. Some I have some problem of interpenetrations between the blocks

I would like to know different methods to know if there are interpenetrations between some of the blocks. I dont care about the interpenetration between two blocks when they are connected on the joint. But sometime some blocks are indirectly connected and are interpenetrated. I would like to detect these cases because they produce some instabilities.

Do you think I can use contactReporter to solve this problem?

You can try, although I have started to wrap and create a class in NxOgre '22 - so you can wait until that's released or use PhysX code directly. My other suggestion is CCD or even joint limits.

You can try, although I have started to wrap and create a class in NxOgre '22 - so you can wait until that's released or use PhysX code directly. My other suggestion is CCD or even joint limits.

What do you means by CCD?

Is there a tutorial on contactReporter?

CCD = Continous Collision Detection. Basically used to prevent tunneling with fast moving objects

There's something about ContactReporters in the PhysX SDK documentation chm.