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How to parent a static box to the object in PhysX (OpenGL)

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 I'm trying to parent a static box to it's object in PhysX by doing this

glm::mat4 M = parentMat * glm::translate(a_position)* glm::yawPitchRoll(a_rotation.x,a_rotation.y ,a_rotation.z) * glm::scale(a_scale);

however when I put the * glm::scale(a_scale) into the calculation it does not rotate anymore , does any one know how to solve it thanks?  I also try this 

PxQuat Pxq = m_object->getGlobalPose().q;
Pxq.rotate(PxVec3(a_rotation.x,a_rotation.y ,a_rotation.z));
m_object->getGlobalPose().q =  Pxq;


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