I want to attach a PxBoxGeometry to the PxRigidDynamic as a simulation data because Physx doesn't allow TriangleMesh being simulated in a simulated PxRigidDynamic.

So I create a PxShape with a PxBoxGeometry like this:

vec3 halfSize = boundingBox.GetHalfSize();

PxBoxGeometry boxGeometry = PxBoxGeometry(halfSize.x, halfSize.y, halfSize.z);

PxShape* boxShape = physics->createShape(boxGeometry, *material);

body->attachShape(*boxShape);

After that I found the boxShape got bias from the original. In order to prove that, I also created a ConvexMesh using the box's vertices:

convexDesc.points.count = 8;

convexDesc.points.stride = sizeof(vec3);

convexDesc.points.data = boundingBox.GetAllCorners();

convexDesc.flags = PxConvexFlag::eCOMPUTE_CONVEX;

PxDefaultMemoryOutputStream stream;

if(cooking->cookConvexMesh(convexDesc, stream))

{

PxDefaultMemoryInputData input(stream.getData(), stream.getSize());

PxConvexMesh* convexMesh = physics->createConvexMesh(input);

PxConvexMeshGeometry convexGeomtry = PxConvexMeshGeometry(convexMesh);

PxShape *convexShape = physics->createShape(convexGeomtry, *material);

body->attachShape(*convexShape);

}

The code above worked very well. The Convex really surrounded the original boundingbox(It actually was the original boundingbox).

That is how the two bounding box get different position:

[attachment=29445:box.JPG]

Note that for both the PxBoxGeometry Shape and the PxConvexMeshGeometry Shape I haven't set localPosition beacuse it's not necessary.