BEPUphysics.CollisionShapes.ConvexShapes.ConvexShape.GetExtremePointWithoutMargin C# (CSharp) Method

        public void GetExtremePointWithoutMargin(Vector3 direction, ref RigidTransform shapeTransform, out Vector3 extremePoint)
        {
            Quaternion conjugate;
            Quaternion.Conjugate(ref shapeTransform.Orientation, out conjugate);
            Vector3.Transform(ref direction, ref conjugate, out direction);
            GetLocalExtremePointWithoutMargin(ref direction, out extremePoint);

            Vector3.Transform(ref extremePoint, ref shapeTransform.Orientation, out extremePoint);
            Vector3.Add(ref extremePoint, ref shapeTransform.Position, out extremePoint);
        }

        ///<summary>
        /// Gets the extreme point of the minkowski difference of shapeA and shapeB in the local space of shapeA.
        ///</summary>
        ///<param name="shapeA">First shape.</param>
        ///<param name="shapeB">Second shape.</param>
        ///<param name="direction">Extreme point direction in local space.</param>
        ///<param name="localTransformB">Transform of shapeB in the local space of A.</param>
        ///<param name="extremePoint">The extreme point in the local space of A.</param>
        public static void GetLocalMinkowskiExtremePoint(ConvexShape shapeA, ConvexShape shapeB, ref Vector3 direction, ref RigidTransform localTransformB, out Vector3 extremePoint)
        {
            //Extreme point of A-B along D = (extreme point of A along D) - (extreme point of B along -D)
            shapeA.GetLocalExtremePointWithoutMargin(ref direction, out extremePoint);
            Vector3 v;
            Vector3 negativeN;
            Vector3.Negate(ref direction, out negativeN);
            shapeB.GetExtremePointWithoutMargin(negativeN, ref localTransformB, out v);
            Vector3.Subtract(ref extremePoint, ref v, out extremePoint);

            ExpandMinkowskiSum(shapeA.collisionMargin, shapeB.collisionMargin, ref direction, out v);
            Vector3.Add(ref extremePoint, ref v, out extremePoint);
        }