private static void SupportMapping(RigidBody body, Shape workingShape, ref JVector direction, out JVector result)
{
JMatrix xform = JMatrix.CreateRotationZ(-body.orientation);
JVector.Transform(ref direction, ref xform, out result);
workingShape.SupportMapping(ref result, out result);
xform = JMatrix.CreateRotationZ(body.orientation);
JVector.Transform(ref result, ref xform, out result);
JVector.Add(ref result, ref body.position, out result);
}
