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  #ifndef GU_INTERSECTION_BOX_BOX_H
  #define GU_INTERSECTION_BOX_BOX_H
  
  #include "foundation/PxMat33.h"
  #include "foundation/PxBounds3.h"
  #include "GuBox.h"
  
  namespace physx
  {
  namespace Gu
  {
  	PX_PHYSX_COMMON_API bool intersectOBBOBB(const PxVec3& e0, const PxVec3& c0, const PxMat33& r0, const PxVec3& e1, const PxVec3& c1, const PxMat33& r1, bool full_test);
  
  	PX_FORCE_INLINE bool intersectOBBAABB(const Gu::Box& obb, const PxBounds3& aabb)
  	{
  		PxVec3 center = aabb.getCenter();
  		PxVec3 extents = aabb.getExtents();
  		return intersectOBBOBB(obb.extents, obb.center, obb.rot, extents, center, PxMat33(PxIdentity), true);
  	}
  
  } // namespace Gu
  
  }
  
  #endif
  