Discards any existing collision data and replaces it with a box based on the joint positions.
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Description
Discards any existing collision data and replaces it with a box based on the joint positions.
Note that this must be called before the physics solver is instantiated/stepped.
For boxes: The minimum box extent, as a proportion of the maximum box extent. For capsules: The minimum radius, as a proportion of the length (not including the radius)