Box2D.Collision.Shapes.EdgeShape.Raycast C# (CSharp) Метод

        public override bool Raycast(RayCastOutput output, RayCastInput input, Transform xf, int childIndex)
        {
            // Put the ray into the edge's frame of reference.
            Vec2 p1 = pool0.Set(input.P1).SubLocal(xf.P);
            Rot.MulTrans(xf.Q, p1, p1);
            Vec2 p2 = pool1.Set(input.P2).SubLocal(xf.P);
            Rot.MulTrans(xf.Q, p1, p1);
            Vec2 d = p2.SubLocal(p1); // we don't use p2 later

            Vec2 v1 = Vertex1;
            Vec2 v2 = Vertex2;
            Vec2 normal = pool2.Set(v2).SubLocal(v1);
            normal.Set(normal.Y, -normal.X);
            normal.Normalize();

            // q = p1 + t * d
            // dot(normal, q - v1) = 0
            // dot(normal, p1 - v1) + t * dot(normal, d) = 0
            pool3.Set(v1).SubLocal(p1);
            float numerator = Vec2.Dot(normal, pool3);
            float denominator = Vec2.Dot(normal, d);

            if (denominator == 0.0f)
            {
                return false;
            }

            float t = numerator / denominator;
            if (t < 0.0f || 1.0f < t)
            {
                return false;
            }

            Vec2 q = pool3;
            Vec2 r = pool4;

            // Vec2 q = p1 + t * d;
            q.Set(d).MulLocal(t).AddLocal(p1);

            // q = v1 + s * r
            // s = dot(q - v1, r) / dot(r, r)
            // Vec2 r = v2 - v1;
            r.Set(v2).SubLocal(v1);
            float rr = Vec2.Dot(r, r);
            if (rr == 0.0f)
            {
                return false;
            }

            pool5.Set(q).SubLocal(v1);
            float s = Vec2.Dot(pool5, r) / rr;
            if (s < 0.0f || 1.0f < s)
            {
                return false;
            }

            output.Fraction = t;
            if (numerator > 0.0f)
            {
                // argOutput.normal = -normal;
                output.Normal.Set(normal).NegateLocal();
            }
            else
            {
                // output.normal = normal;
                output.Normal.Set(normal);
            }
            return true;
        }

        public override bool Raycast(RayCastOutput output, RayCastInput input, Transform xf, int childIndex)
        {
            Debug.Assert(childIndex < Count);

            EdgeShape edgeShape = pool0;

            int i1 = childIndex;
            int i2 = childIndex + 1;

            if (i2 == Count)
            {
                i2 = 0;
            }

            edgeShape.Vertex1.Set(Vertices[i1]);
            edgeShape.Vertex2.Set(Vertices[i2]);

            return(edgeShape.Raycast(output, input, xf, 0));
        }