public void UpdateSensorShape() { if (SensorShape != null) { Body.RemoveShape(SensorShape); } Rect largeRect = new Rect(); foreach (var rect in Body.Shapes.Select(s => s.AABB)) { largeRect = largeRect.ExpandedToContain(rect); } CircleShapeInfo circleShape = new CircleShapeInfo( (float)Math.Sqrt(Math.Pow(largeRect.W / 2, 2) + Math.Pow(largeRect.H / 2, 2) + Range), new Vector2(), 0); circleShape.IsSensor = true; SensorShape = circleShape; Body.AddShape(circleShape); }