BEPUphysics.CollisionShapes.InstancedMeshShape.ComputeBoundingBox C# (CSharp) Метод

        public void ComputeBoundingBox(ref AffineTransform transform, out BoundingBox boundingBox)
        {
#if !WINDOWS
            boundingBox = new BoundingBox();
#endif
            float minX = float.MaxValue;
            float minY = float.MaxValue;
            float minZ = float.MaxValue;

            float maxX = -float.MaxValue;
            float maxY = -float.MaxValue;
            float maxZ = -float.MaxValue;
            for (int i = 0; i < triangleMesh.Data.vertices.Length; i++)
            {
                Vector3 vertex;
                triangleMesh.Data.GetVertexPosition(i, out vertex);
                Matrix3x3.Transform(ref vertex, ref transform.LinearTransform, out vertex);
                if (vertex.X < minX)
                    minX = vertex.X;
                if (vertex.X > maxX)
                    maxX = vertex.X;

                if (vertex.Y < minY)
                    minY = vertex.Y;
                if (vertex.Y > maxY)
                    maxY = vertex.Y;

                if (vertex.Z < minZ)
                    minZ = vertex.Z;
                if (vertex.Z > maxZ)
                    maxZ = vertex.Z;
            }
            boundingBox.Min.X = transform.Translation.X + minX;
            boundingBox.Min.Y = transform.Translation.Y + minY;
            boundingBox.Min.Z = transform.Translation.Z + minZ;
            
            boundingBox.Max.X = transform.Translation.X + maxX;
            boundingBox.Max.Y = transform.Translation.Y + maxY;
            boundingBox.Max.Z = transform.Translation.Z + maxZ;
        }
    }