BEPUphysics.CollisionTests.CollisionAlgorithms.MinkowskiToolbox.GetLocalMinkowskiExtremePointWithoutMargin C# (CSharp) Метод

        public static void GetLocalMinkowskiExtremePointWithoutMargin(ConvexShape shapeA, ConvexShape shapeB, ref Vector3 direction, ref RigidTransform localTransformB, out Vector3 extremePoint)
        {
            //Extreme point of A-B along D = (extreme point of A along D) - (extreme point of B along -D)
            shapeA.GetLocalExtremePointWithoutMargin(ref direction, out extremePoint);
            Vector3 extremePointB;
            Vector3 negativeN;
            Vector3.Negate(ref direction, out negativeN);
            shapeB.GetExtremePointWithoutMargin(negativeN, ref localTransformB, out extremePointB);
            Vector3.Subtract(ref extremePoint, ref extremePointB, out extremePoint);

        }