Collision between box and tilted cylinder

[uzername]

I have been creating a program that emulates collision detection between cylinder and box shape. It works fine when cylinder is straight, but it does not show correct coordinates when cylinder gets rotated. Here is what ChatGPT wrote on this subject:

In BepuPhysics2, the Cylinder shape (just like Capsule) is defined as being implicitly aligned with the Y-axis. From [Bepu source comments and design]:

The Cylinder shape's height extends along the local Y-axis of the body, and it is not arbitrarily rotatable at the shape level.

So even if you apply rotation to the body, the collision shape itself does not rotate accordingly unless it is transformed properly in local space — but shape-level rotation isn’t directly supported.

Is this true?
It also suggested to make ConvexHull if I need to dispatch collision detection between tilted cylinder and a box.

[uzername]

As a conclusion, ChatGPT wrote:

The problem is Bepu’s Cylinder shape does not rotate — it’s always Y-aligned.

Is it true?

[RossNordby]

No; a cylinder shape always has its length aligned with the Y axis within its local space by convention, but you can apply arbitrary poses to bodies/statics using it in world space (or to a cylinder child in a compound).

[RossNordby]

By the way, a sometimes-effective way to get AIs out of a nonsense rut is to just ask something like, "huh, that's really weird. Isn't that completely inconsistent with everything else? Why would it be that way? What's the probability that it isn't actually that way, and what information could we find that would tell us for sure?"

Usually you'll get some kind of "You're right to question that! blah blah blah" where it gives up on the hallucination.