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++ // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
++ // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
++ // SPDX-FileCopyrightText: Copyright (c) 2008-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
++ // SPDX-License-Identifier: Apache-2.0
++
++ #ifndef PX_CONVEX_GEOMETRY_EXT_H
++ #define PX_CONVEX_GEOMETRY_EXT_H
++
++ #include "foundation/PxMat33.h"
++ #include "foundation/PxTransform.h"
++ #include "geometry/PxConvexCoreGeometry.h"
++
++ #if !PX_DOXYGEN
++ namespace physx
++ {
++ #endif
++
++ class PxBounds3;
++ class PxRenderOutput;
++
++ /**
++ \brief Convex geometry helpers
++ */
++ class PxConvexCoreExt
++ {
++ public:
++
++ /**
++ \brief Compute mass properties of the convex core geometry.
++ \param convex The convex geometry.
++ \param[out] density1Mass The mass of the geometry assuming unit density.
++ \param[out] inertiaTensor The inertia tensor of the geometry.
++ \param[out] centerOfMass The center of mass of the geometry.
++ */
++ static void computeMassInfo(const PxConvexCoreGeometry& convex, PxReal& density1Mass, PxMat33& inertiaTensor, PxVec3& centerOfMass);
++
++ /**
++ \brief Visualize the convex core geometry
++ \param convex The convex geometry.
++ \param pose The pose of the geometry in world space
++ \param drawCore If true, draw the core inside the full convex geometry including the margin
++ \param cullbox The culling box for visualization
++ \param out The render output object to use for visualization
++ */
++ static void visualize(const PxConvexCoreGeometry& convex, const PxTransform& pose, bool drawCore, const PxBounds3& cullbox, PxRenderOutput& out);
++
++ };
++
++ #if !PX_DOXYGEN
++ }
++ #endif
++
++ #endif