BEPUphysics.CollisionShapes.ConvexShapes.ConvexShape.GetSweptBoundingBox C# (CSharp) Метод

        public void GetSweptBoundingBox(ref RigidTransform transform, ref Vector3 sweep, out BoundingBox boundingBox)
        {
            GetBoundingBox(ref transform, out boundingBox);
            Toolbox.ExpandBoundingBox(ref boundingBox, ref sweep);

        }

        /// <summary>
        /// Casts a convex shape against the collidable.
        /// </summary>
        /// <param name="castShape">Shape to cast.</param>
        /// <param name="startingTransform">Initial transform of the shape.</param>
        /// <param name="sweep">Sweep to apply to the shape.</param>
        /// <param name="filter">Test to apply to the entry. If it returns true, the entry is processed, otherwise the entry is ignored. If a collidable hierarchy is present
        /// in the entry, this filter will be passed into inner ray casts.</param>
        /// <param name="result">Hit data, if any.</param>
        /// <returns>Whether or not the cast hit anything.</returns>
        public bool ConvexCast(ConvexShapes.ConvexShape castShape, ref RigidTransform startingTransform, ref Vector3 sweep, Func <BroadPhaseEntry, bool> filter, out RayCastResult result)
        {
            var         outputOverlappedElements = PhysicsResources.GetCollidableList();
            BoundingBox boundingBox;

            castShape.GetSweptBoundingBox(ref startingTransform, ref sweep, out boundingBox);

            CollidableTree.GetOverlaps(boundingBox, outputOverlappedElements);
            result           = new RayCastResult();
            result.HitData.T = Fix64.MaxValue;
            for (int i = 0; i < outputOverlappedElements.Count; ++i)
            {
                RayHit hit;
                if (outputOverlappedElements.Elements[i].ConvexCast(castShape, ref startingTransform, ref sweep, filter, out hit))
                {
                    if (hit.T < result.HitData.T)
                    {
                        result.HitData   = hit;
                        result.HitObject = outputOverlappedElements.Elements[i];
                    }
                }
            }
            PhysicsResources.GiveBack(outputOverlappedElements);
            return(result.HitData.T < Fix64.MaxValue);
        }