Box2D.Collision.Shapes.EdgeShape.ComputeAABB C# (CSharp) Метод

        public override void ComputeAABB(AABB aabb, Transform xf, int childIndex)
        {
            Vec2 v1 = pool1;
            Vec2 v2 = pool2;

            Transform.MulToOutUnsafe(xf, Vertex1, v1);
            Transform.MulToOutUnsafe(xf, Vertex2, v2);

            Vec2.MinToOut(v1, v2, aabb.LowerBound);
            Vec2.MaxToOut(v1, v2, aabb.UpperBound);

            aabb.LowerBound.X -= Radius;
            aabb.LowerBound.Y -= Radius;
            aabb.UpperBound.X += Radius;
            aabb.UpperBound.Y += Radius;
        }