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use crate::bounding_volume::AABB;
use crate::math::{Isometry, Point, Real};
use crate::shape::Cuboid;
use crate::utils::IsometryOps;
impl Cuboid {
#[inline]
pub fn aabb(&self, pos: &Isometry<Real>) -> AABB {
let center = Point::from(pos.translation.vector);
let ws_half_extents = pos.absolute_transform_vector(&self.half_extents);
AABB::from_half_extents(center, ws_half_extents)
}
#[inline]
pub fn local_aabb(&self) -> AABB {
let half_extents = Point::from(self.half_extents);
AABB::new(-half_extents, half_extents)
}
}