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halfExtents[m_upAxis] = getRadius()*btScalar(2.0) + btScalar(0.5)*getHalfHeight();
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halfExtents[m_upAxis] = getRadius() + getHalfHeight();
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halfExtents[m_upAxis] = getRadius()*btScalar(2.0) + btScalar(0.5)*getHalfHeight();
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halfExtents[m_upAxis] = getRadius() + getHalfHeight();