OpenSim.Region.ScriptEngine.Shared.Api.LSL_Api.ObjectIntersection C# (CSharp) Method

        private ContactResult[] ObjectIntersection(Vector3 rayStart, Vector3 rayEnd, bool includePhysical, bool includeNonPhysical, bool includePhantom)
        {
            Ray ray = new Ray(rayStart, Vector3.Normalize(rayEnd - rayStart));
            List<ContactResult> contacts = new List<ContactResult>();

            Vector3 ab = rayEnd - rayStart;

            World.ForEachSOG(delegate(SceneObjectGroup group)
            {
                if (m_host.ParentGroup == group)
                    return;

                if (group.IsAttachment)
                    return;

                if (group.RootPart.PhysActor == null)
                {
                    if (!includePhantom)
                        return;
                }
                else
                {
                    if (group.RootPart.PhysActor.IsPhysical)
                    {
                        if (!includePhysical)
                            return;
                    }
                    else
                    {
                        if (!includeNonPhysical)
                            return;
                    }
                }

                // Find the radius ouside of which we don't even need to hit test
                float minX;
                float maxX;
                float minY;
                float maxY;
                float minZ;
                float maxZ;

                float radius = 0.0f;

                group.GetAxisAlignedBoundingBoxRaw(out minX, out maxX, out minY, out maxY, out minZ, out maxZ);

                if (Math.Abs(minX) > radius)
                    radius = Math.Abs(minX);
                if (Math.Abs(minY) > radius)
                    radius = Math.Abs(minY);
                if (Math.Abs(minZ) > radius)
                    radius = Math.Abs(minZ);
                if (Math.Abs(maxX) > radius)
                    radius = Math.Abs(maxX);
                if (Math.Abs(maxY) > radius)
                    radius = Math.Abs(maxY);
                if (Math.Abs(maxZ) > radius)
                    radius = Math.Abs(maxZ);
                radius = radius*1.413f;
                Vector3 ac = group.AbsolutePosition - rayStart;
//                Vector3 bc = group.AbsolutePosition - rayEnd;

                double d = Math.Abs(Vector3.Mag(Vector3.Cross(ab, ac)) / Vector3.Distance(rayStart, rayEnd));

                // Too far off ray, don't bother
                if (d > radius)
                    return;

                // Behind ray, drop
                double d2 = Vector3.Dot(Vector3.Negate(ab), ac);
                if (d2 > 0)
                    return;

                ray = new Ray(rayStart, Vector3.Normalize(rayEnd - rayStart));
                EntityIntersection intersection = group.TestIntersection(ray, true, false);
                // Miss.
                if (!intersection.HitTF)
                    return;

                Vector3 b1 = group.AbsolutePosition + new Vector3(minX, minY, minZ);
                Vector3 b2 = group.AbsolutePosition + new Vector3(maxX, maxY, maxZ);
                //m_log.DebugFormat("[LLCASTRAY]: min<{0},{1},{2}>, max<{3},{4},{5}> = hitp<{6},{7},{8}>", b1.X,b1.Y,b1.Z,b2.X,b2.Y,b2.Z,intersection.ipoint.X,intersection.ipoint.Y,intersection.ipoint.Z);
                if (!(intersection.ipoint.X >= b1.X && intersection.ipoint.X <= b2.X &&
                    intersection.ipoint.Y >= b1.Y && intersection.ipoint.Y <= b2.Y &&
                    intersection.ipoint.Z >= b1.Z && intersection.ipoint.Z <= b2.Z))
                    return;

                ContactResult result = new ContactResult ();
                result.ConsumerID = group.LocalId;
//                result.Depth = intersection.distance;
                result.Normal = intersection.normal;
                result.Pos = intersection.ipoint;
                result.Depth = Vector3.Mag(rayStart - result.Pos);

                contacts.Add(result);
            });

            return contacts.ToArray();
        }