BEPUphysics.CollisionShapes.ConvexShapes.MinkowskiSumShape.GetLocalExtremePointWithoutMargin C# (CSharp) Метод

        public override void GetLocalExtremePointWithoutMargin(ref Vector3 direction, out Vector3 extremePoint)
        {
            var transform = new RigidTransform { Orientation = shapes.WrappedList.Elements[0].Orientation };
            shapes.WrappedList.Elements[0].CollisionShape.GetExtremePoint(direction, ref transform, out extremePoint);
            for (int i = 1; i < shapes.WrappedList.Count; i++)
            {
                Vector3 temp;
                transform.Orientation = shapes.WrappedList.Elements[i].Orientation;
                shapes.WrappedList.Elements[i].CollisionShape.GetExtremePoint(direction, ref transform, out temp);
                Vector3.Add(ref extremePoint, ref temp, out extremePoint);
            }
            Vector3.Add(ref extremePoint, ref localOffset, out extremePoint);
        }