BEPUphysics.NarrowPhaseSystems.Pairs.MobileMeshStaticMeshPairHandler.GetOpposingCollidable C# (CSharp) Метод

        protected override TriangleCollidable GetOpposingCollidable(int index)
        {
            //Construct a TriangleCollidable from the static mesh.
            var toReturn = PhysicsResources.GetTriangleCollidable();
            var shape = toReturn.Shape;
            mesh.Mesh.Data.GetTriangle(index, out shape.vA, out shape.vB, out shape.vC);
            Vector3 center;
            Vector3.Add(ref shape.vA, ref shape.vB, out center);
            Vector3.Add(ref center, ref shape.vC, out center);
            Vector3.Multiply(ref center, 1 / 3f, out center);
            Vector3.Subtract(ref shape.vA, ref center, out shape.vA);
            Vector3.Subtract(ref shape.vB, ref center, out shape.vB);
            Vector3.Subtract(ref shape.vC, ref center, out shape.vC);
            //The bounding box doesn't update by itself.
            toReturn.worldTransform.Position = center;
            toReturn.worldTransform.Orientation = Quaternion.Identity;
            toReturn.UpdateBoundingBoxInternal(0);
            shape.sidedness = mesh.sidedness;
            shape.collisionMargin = mobileMesh.Shape.MeshCollisionMargin;
            return toReturn;
        }