Координаты вершин

        public static Point Rotate(Point pointToRotate, Point center, double angle)
        {
            return
                new Point(
                    (float)(center.X + (pointToRotate.X - center.X) * Math.Cos(angle) +
                             (center.Y - pointToRotate.Y) * Math.Sin(angle)),
                    (float)(center.Y + (pointToRotate.X - center.X) * Math.Sin(angle) +
                             (pointToRotate.Y - center.Y) * Math.Cos(angle)));
        }

        public static Point[] GetPoints(ObstacleT unit)
        {
            return new[]
                       {
                           Rotate(new Point(unit.X - unit.Width/2, unit.Y + unit.Height/2),
                                  new Point(unit.X, unit.Y), unit.Angle),
                           Rotate(new Point(unit.X + unit.Width/2, unit.Y + unit.Height/2),
                                  new Point(unit.X, unit.Y), unit.Angle),
                           Rotate(new Point(unit.X + unit.Width/2, unit.Y - unit.Height/2),
                                  new Point(unit.X, unit.Y), unit.Angle),
                           Rotate(new Point(unit.X - unit.Width/2, unit.Y - unit.Height/2),
                                  new Point(unit.X, unit.Y), unit.Angle)
                       };
        }