public bool RayCast(Ray ray, float maximumLength, TriangleSidedness sidedness, out RayHit rayHit)
{
//Put the ray into local space.
Ray localRay;
Matrix3x3 orientation;
Matrix3x3.CreateFromQuaternion(ref worldTransform.Orientation, out orientation);
Matrix3x3.TransformTranspose(ref ray.Direction, ref orientation, out localRay.Direction);
Vector3.Subtract(ref ray.Position, ref worldTransform.Position, out localRay.Position);
Matrix3x3.TransformTranspose(ref localRay.Position, ref orientation, out localRay.Position);
if (Shape.TriangleMesh.RayCast(localRay, maximumLength, sidedness, out rayHit))
{
//Transform the hit into world space.
Vector3.Multiply(ref ray.Direction, rayHit.T, out rayHit.Location);
Vector3.Add(ref rayHit.Location, ref ray.Position, out rayHit.Location);
Matrix3x3.Transform(ref rayHit.Normal, ref orientation, out rayHit.Normal);
return true;
}
rayHit = new RayHit();
return false;
}