BEPUphysics.CollisionShapes.ConvexShapes.CapsuleShape.GetBoundingBox C# (CSharp) Method

        public override void GetBoundingBox(ref RigidTransform shapeTransform, out BoundingBox boundingBox)
        {
#if !WINDOWS
            boundingBox = new BoundingBox();
#endif
            var upExtreme = new Vector3(0, halfLength, 0);
            var downExtreme = new Vector3(0, -halfLength, 0);

            Vector3.Transform(ref upExtreme, ref shapeTransform.Orientation, out upExtreme);
            Vector3.Transform(ref downExtreme, ref shapeTransform.Orientation, out downExtreme);

            if (upExtreme.X > downExtreme.X)
            {
                boundingBox.Max.X = upExtreme.X;
                boundingBox.Min.X = downExtreme.X;
            }
            else
            {
                boundingBox.Max.X = downExtreme.X;
                boundingBox.Min.X = upExtreme.X;
            }

            if (upExtreme.Y > downExtreme.Y)
            {
                boundingBox.Max.Y = upExtreme.Y;
                boundingBox.Min.Y = downExtreme.Y;
            }
            else
            {
                boundingBox.Max.Y = downExtreme.Y;
                boundingBox.Min.Y = upExtreme.Y;
            }

            if (upExtreme.Z > downExtreme.Z)
            {
                boundingBox.Max.Z = upExtreme.Z;
                boundingBox.Min.Z = downExtreme.Z;
            }
            else
            {
                boundingBox.Max.Z = downExtreme.Z;
                boundingBox.Min.Z = upExtreme.Z;
            }


            boundingBox.Min.X += shapeTransform.Position.X - collisionMargin;
            boundingBox.Min.Y += shapeTransform.Position.Y - collisionMargin;
            boundingBox.Min.Z += shapeTransform.Position.Z - collisionMargin;
            boundingBox.Max.X += shapeTransform.Position.X + collisionMargin;
            boundingBox.Max.Y += shapeTransform.Position.Y + collisionMargin;
            boundingBox.Max.Z += shapeTransform.Position.Z + collisionMargin;
        }