BEPUphysics.CollisionShapes.CompoundShape.ComputeCenter C# (CSharp) Метод

        public override Vector3 ComputeCenter()
        {
            float totalWeight = 0;
            var center = new Vector3();
            for (int i = 0; i < shapes.Count; i++)
            {
                totalWeight += shapes.Elements[i].Weight;
                Vector3 centerContribution;
                Vector3.Multiply(ref shapes.Elements[i].LocalTransform.Position, shapes.Elements[i].Weight, out centerContribution);
                Vector3.Add(ref center, ref centerContribution, out center);

            }
            Vector3.Multiply(ref center, 1 / totalWeight, out center);
            return center;
        }