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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
#include "foundation/PxIntrinsics.h"
#include "GuInternal.h"
#include "GuBox.h"
#include "GuCapsule.h"
using namespace physx;
/**
* Computes an OBB surrounding the capsule.
* \param box [out] the OBB
*/
void Gu::computeBoxAroundCapsule(const Gu::Capsule& capsule, Gu::Box& box)
{
// Box center = center of the two capsule's endpoints
box.center = capsule.computeCenter();
// Box extents
const PxF32 d = (capsule.p0 - capsule.p1).magnitude();
box.extents.x = capsule.radius + (d * 0.5f);
box.extents.y = capsule.radius;
box.extents.z = capsule.radius;
// Box orientation
if(d==0.0f)
{
box.rot = PxMat33(PxIdentity);
}
else
{
PxVec3 dir, right, up;
PxComputeBasisVectors(capsule.p0, capsule.p1, dir, right, up);
box.setAxes(dir, right, up);
}
}