Function transformNoEmptyTest

physx/source/geomutils/src/GuBounds.cpp:53–57

using namespace Ps::aos;

static PX_FORCE_INLINE void transformNoEmptyTest(Vec3p& c, Vec3p& ext, const PxMat33& rot, const PxVec3& pos, const CenterExtentsPadded& bounds)
{
	c = rot.transform(bounds.mCenter) + pos;
	ext = Cm::basisExtent(rot.column0, rot.column1, rot.column2, bounds.mExtents);
}

// PT: this one may have duplicates in GuBV4_BoxSweep_Internal.h & GuBV4_Raycast.cpp
static PX_FORCE_INLINE Vec4V multiply3x3V(const Vec4V p, const PxMat33Padded& mat_Padded)