Box2DX.Collision.CircleShape.ComputeSweptAABB C# (CSharp) Method

        public override void ComputeSweptAABB(out AABB aabb, XForm transform1, XForm transform2)
        {
            aabb = new AABB();

            Vec2 p1 = transform1.Position + Common.Math.Mul(transform1.R, _localPosition);
            Vec2 p2 = transform2.Position + Common.Math.Mul(transform2.R, _localPosition);
            Vec2 lower = Common.Math.Min(p1, p2);
            Vec2 upper = Common.Math.Max(p1, p2);

            aabb.LowerBound.Set(lower.X - _radius, lower.Y - _radius);
            aabb.UpperBound.Set(upper.X + _radius, upper.Y + _radius);
        }