BEPUphysics.CollisionTests.CollisionAlgorithms.MPRToolbox.GetSweptExtremePoint C# (CSharp) Метод

        static void GetSweptExtremePoint(ConvexShape shapeA, ConvexShape shapeB, ref RigidTransform localTransformB, ref Vector3 sweep, ref Vector3 extremePointDirection, out Vector3 extremePointA, out Vector3 extremePoint)
        {
            Vector3 b;
            MinkowskiToolbox.GetLocalMinkowskiExtremePoint(shapeA, shapeB, ref extremePointDirection, ref localTransformB, out extremePointA, out b, out extremePoint);
            float dot;
            Vector3.Dot(ref extremePointDirection, ref sweep, out dot);
            if (dot > 0)
            {
                Vector3.Add(ref extremePoint, ref sweep, out extremePoint);
            }
        }