void PxScaleRigidActor(PxRigidActor& actor, PxReal scale, bool scaleMassProps)
{
	PX_CHECK_AND_RETURN(scale > 0,
		"PxScaleRigidActor requires that the scale parameter is greater than zero");

	Ps::InlineArray<PxShape*, 64> shapes;
	shapes.resize(actor.getNbShapes());
	actor.getShapes(shapes.begin(), shapes.size());

	for(PxU32 i=0;i<shapes.size();i++)
	{
		shapes[i]->setLocalPose(scalePosition(shapes[i]->getLocalPose(), scale));		
		PxGeometryHolder h = shapes[i]->getGeometry();

		switch(h.getType())
		{
		case PxGeometryType::eSPHERE:	
			h.sphere().radius *= scale;			
			break;
		case PxGeometryType::ePLANE:
			break;
		case PxGeometryType::eCAPSULE:
			h.capsule().halfHeight *= scale;
			h.capsule().radius *= scale;
			break;
		case PxGeometryType::eBOX:
			h.box().halfExtents *= scale;
			break;
		case PxGeometryType::eCONVEXMESH:
			h.convexMesh().scale.scale *= scale;
			break;
		case PxGeometryType::eTRIANGLEMESH:
			h.triangleMesh().scale.scale *= scale;
			break;
		case PxGeometryType::eHEIGHTFIELD:
			h.heightField().heightScale *= scale;
			h.heightField().rowScale *= scale;
			h.heightField().columnScale *= scale;
			break;
		case PxGeometryType::eINVALID:
		case PxGeometryType::eGEOMETRY_COUNT:
		default:
			PX_ASSERT(0);
		}
		shapes[i]->setGeometry(h.any());
	}

	if(!scaleMassProps)
		return;

	PxRigidDynamic* dynamic = (&actor)->is<PxRigidDynamic>();
	if(!dynamic)
		return;

	PxReal scale3 = scale*scale*scale;
	dynamic->setMass(dynamic->getMass()*scale3);
	dynamic->setMassSpaceInertiaTensor(dynamic->getMassSpaceInertiaTensor()*scale3*scale*scale);
	dynamic->setCMassLocalPose(scalePosition(dynamic->getCMassLocalPose(), scale));
}
PxShape* PxCloneShape(PxPhysics &physics, const PxShape& from, bool isExclusive)
{
	Ps::InlineArray<PxMaterial*, 64> materials;
	PxU16 materialCount = from.getNbMaterials();
	materials.resize(materialCount);
	from.getMaterials(materials.begin(), materialCount);

	PxShape* to = physics.createShape(from.getGeometry().any(), materials.begin(), materialCount, isExclusive, from.getFlags());

	to->setLocalPose(from.getLocalPose());
	to->setContactOffset(from.getContactOffset());
	to->setRestOffset(from.getRestOffset());
	to->setSimulationFilterData(from.getSimulationFilterData());
	to->setQueryFilterData(from.getQueryFilterData());
	return to;
}