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

        static void GetSweptExtremePoint(ConvexShape shape, ref Vector3 point, ref Vector3 sweep, ref Vector3 extremePointDirection, out Vector3 extremePoint)
        {
            shape.GetExtremePoint(extremePointDirection, ref Toolbox.RigidIdentity, out extremePoint);
            Vector3.Subtract(ref extremePoint, ref point, out extremePoint);
            float dot;
            Vector3.Dot(ref extremePointDirection, ref sweep, out dot);
            if (dot > 0)
            {
                Vector3.Add(ref extremePoint, ref sweep, out extremePoint);
            }
        }