public override void GetBoundingBox(ref RigidTransform shapeTransform, out BoundingBox boundingBox)
{
Vector3 a, b, c;
Vector3.Transform(ref vA, ref shapeTransform.Orientation, out a);
Vector3.Transform(ref vB, ref shapeTransform.Orientation, out b);
Vector3.Transform(ref vC, ref shapeTransform.Orientation, out c);
Vector3.Min(ref a, ref b, out boundingBox.Min);
Vector3.Min(ref c, ref boundingBox.Min, out boundingBox.Min);
Vector3.Max(ref a, ref b, out boundingBox.Max);
Vector3.Max(ref c, ref boundingBox.Max, out boundingBox.Max);
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;
}
