text: //
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  // Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
  // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
  // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
  
  #include "foundation/PxTransform.h"
  #include "SqBounds.h"
  #include "CmTransformUtils.h"
  #include "SqPruner.h"
  #include "ScbShape.h"
  #include "ScbActor.h"
  #include "ScbRigidStatic.h"
  #include "ScbBody.h"
  #include "PsAllocator.h"
  #include "GuBounds.h"
  
  using namespace physx;
  using namespace Sq;
  
  void Sq::computeStaticWorldAABB(PxBounds3& bounds, const Scb::Shape& scbShape, const Scb::Actor& scbActor)
  {
  	const PxTransform& shape2Actor = scbShape.getShape2Actor();
  
  	PX_ALIGN(16, PxTransform) globalPose;
  
  	Cm::getStaticGlobalPoseAligned(static_cast<const Scb::RigidStatic&>(scbActor).getActor2World(), shape2Actor, globalPose);
  	Gu::computeBounds(bounds, scbShape.getGeometry(), globalPose, 0.0f, NULL, SQ_PRUNER_INFLATION);
  }
  
  void Sq::computeDynamicWorldAABB(PxBounds3& bounds, const Scb::Shape& scbShape, const Scb::Actor& scbActor)
  {
  	const PxTransform& shape2Actor = scbShape.getShape2Actor();
  
  	PX_ALIGN(16, PxTransform) globalPose;
  	{
  		const Scb::Body& body = static_cast<const Scb::Body&>(scbActor);
  		PX_ALIGN(16, PxTransform) kinematicTarget;
  		const PxU16 sqktFlags = PxRigidBodyFlag::eKINEMATIC | PxRigidBodyFlag::eUSE_KINEMATIC_TARGET_FOR_SCENE_QUERIES;
  		const bool useTarget = (PxU16(body.getFlags()) & sqktFlags) == sqktFlags;
  		const PxTransform& body2World = (useTarget && body.getKinematicTarget(kinematicTarget)) ? kinematicTarget : body.getBody2World();
  		Cm::getDynamicGlobalPoseAligned(body2World, shape2Actor, body.getBody2Actor(), globalPose);
  	}
  
  	Gu::computeBounds(bounds, scbShape.getGeometry(), globalPose, 0.0f, NULL, SQ_PRUNER_INFLATION);
  }
  
  const ComputeBoundsFunc Sq::gComputeBoundsTable[2] = 
  { 
  	computeStaticWorldAABB, 
  	computeDynamicWorldAABB
  };
  