static void GetSweptExtremePoint(ConvexShape shapeA, ConvexShape shapeB, ref RigidTransform localTransformB, ref Vector3 sweep, ref Vector3 extremePointDirection, out Vector3 extremePointA, out Vector3 extremePoint)
{
Vector3 b;
MinkowskiToolbox.GetLocalMinkowskiExtremePoint(shapeA, shapeB, ref extremePointDirection, ref localTransformB, out extremePointA, out b, out extremePoint);
float dot;
Vector3.Dot(ref extremePointDirection, ref sweep, out dot);
if (dot > 0)
{
Vector3.Add(ref extremePoint, ref sweep, out extremePoint);
}
}