BEPUutilities.AffineTransform.Transform C# (CSharp) Method

        public static Vector3 Transform(Vector3 position, AffineTransform affineTransform)
        {
            Vector3 toReturn;
            Transform(ref position, ref affineTransform, out toReturn);
            return toReturn;
        }

        /// <summary>
        /// Casts a convex shape against the collidable.
        /// </summary>
        /// <param name="castShape">Shape to cast.</param>
        /// <param name="startingTransform">Initial transform of the shape.</param>
        /// <param name="sweep">Sweep to apply to the shape.</param>
        /// <param name="hit">Hit data, if any.</param>
        /// <returns>Whether or not the cast hit anything.</returns>
        public override bool ConvexCast(CollisionShapes.ConvexShapes.ConvexShape castShape, ref RigidTransform startingTransform, ref Vector3 sweep, out RayHit hit)
        {
            hit = new RayHit();
            BoundingBox boundingBox;

            castShape.GetSweptLocalBoundingBox(ref startingTransform, ref worldTransform, ref sweep, out boundingBox);
            var tri         = PhysicsResources.GetTriangle();
            var hitElements = CommonResources.GetIntList();

            if (this.Shape.TriangleMesh.Tree.GetOverlaps(boundingBox, hitElements))
            {
                hit.T = float.MaxValue;
                for (int i = 0; i < hitElements.Count; i++)
                {
                    Shape.TriangleMesh.Data.GetTriangle(hitElements[i], out tri.vA, out tri.vB, out tri.vC);
                    AffineTransform.Transform(ref tri.vA, ref worldTransform, out tri.vA);
                    AffineTransform.Transform(ref tri.vB, ref worldTransform, out tri.vB);
                    AffineTransform.Transform(ref tri.vC, ref worldTransform, out tri.vC);
                    Vector3 center;
                    Vector3.Add(ref tri.vA, ref tri.vB, out center);
                    Vector3.Add(ref center, ref tri.vC, out center);
                    Vector3.Multiply(ref center, 1f / 3f, out center);
                    Vector3.Subtract(ref tri.vA, ref center, out tri.vA);
                    Vector3.Subtract(ref tri.vB, ref center, out tri.vB);
                    Vector3.Subtract(ref tri.vC, ref center, out tri.vC);
                    tri.maximumRadius = tri.vA.LengthSquared();
                    float radius = tri.vB.LengthSquared();
                    if (tri.maximumRadius < radius)
                    {
                        tri.maximumRadius = radius;
                    }
                    radius = tri.vC.LengthSquared();
                    if (tri.maximumRadius < radius)
                    {
                        tri.maximumRadius = radius;
                    }
                    tri.maximumRadius   = (float)Math.Sqrt(tri.maximumRadius);
                    tri.collisionMargin = 0;
                    var triangleTransform = new RigidTransform {
                        Orientation = Quaternion.Identity, Position = center
                    };
                    RayHit tempHit;
                    if (MPRToolbox.Sweep(castShape, tri, ref sweep, ref Toolbox.ZeroVector, ref startingTransform, ref triangleTransform, out tempHit) && tempHit.T < hit.T)
                    {
                        hit = tempHit;
                    }
                }
                tri.maximumRadius = 0;
                PhysicsResources.GiveBack(tri);
                CommonResources.GiveBack(hitElements);
                return(hit.T != float.MaxValue);
            }
            PhysicsResources.GiveBack(tri);
            CommonResources.GiveBack(hitElements);
            return(false);
        }