Jitter.Collision.CollisionSystemPersistentSAP.Raycast C# (CSharp) Method

        public override bool Raycast(RigidBody body, JVector rayOrigin, JVector rayDirection, out JVector normal, out float fraction)
        {
            fraction = float.MaxValue; normal = JVector.Zero;

            if (!body.BoundingBox.RayIntersect(ref rayOrigin, ref rayDirection)) return false;

            if (body.Shape is Multishape)
            {
                Multishape ms = (body.Shape as Multishape).RequestWorkingClone();
                
                JVector tempNormal;float tempFraction;
                bool multiShapeCollides = false;

                JVector transformedOrigin; JVector.Subtract(ref rayOrigin, ref body.position, out transformedOrigin);
                JVector.Transform(ref transformedOrigin, ref body.invOrientation, out transformedOrigin);
                JVector transformedDirection; JVector.Transform(ref rayDirection, ref body.invOrientation, out transformedDirection);

                int msLength = ms.Prepare(ref transformedOrigin, ref transformedDirection);

                for (int i = 0; i < msLength; i++)
                {
                    ms.SetCurrentShape(i);

                    if (GJKCollide.Raycast(ms, ref body.orientation, ref body.invOrientation, ref body.position,
                        ref rayOrigin, ref rayDirection, out tempFraction, out tempNormal))
                    {
                        if (tempFraction < fraction)
                        {
                            if (useTerrainNormal && ms is TerrainShape)
                            {
                                (ms as TerrainShape).CollisionNormal(out tempNormal);
                                JVector.Transform(ref tempNormal, ref body.orientation, out tempNormal);
                                tempNormal.Negate();
                            }
                            else if (useTriangleMeshNormal && ms is TriangleMeshShape)
                            {
                                (ms as TriangleMeshShape).CollisionNormal(out tempNormal);
                                JVector.Transform(ref tempNormal, ref body.orientation, out tempNormal);
                                tempNormal.Negate();
                            }

                            normal = tempNormal;
                            fraction = tempFraction;
                            multiShapeCollides = true;
                        }
                    }
                }

                ms.ReturnWorkingClone();
                return multiShapeCollides;
            }
            else
            {
                return (GJKCollide.Raycast(body.Shape, ref body.orientation, ref body.invOrientation, ref body.position,
                    ref rayOrigin, ref rayDirection, out fraction, out normal));
            }


        }
        #endregion