/// <summary>
/// Casts a convex shape against the collidable.
/// </summary>
/// <param name="castShape">Shape to cast.</param>
/// <param name="startingTransform">Initial transform of the shape.</param>
/// <param name="sweep">Sweep to apply to the shape.</param>
/// <param name="filter">Test to apply to the entry. If it returns true, the entry is processed, otherwise the entry is ignored. If a collidable hierarchy is present
/// in the entry, this filter will be passed into inner ray casts.</param>
/// <param name="hit">Hit data, if any.</param>
/// <param name="hitChild">Child hit by the cast.</param>
/// <returns>Whether or not the cast hit anything.</returns>
public bool ConvexCast(CollisionShapes.ConvexShapes.ConvexShape castShape, ref RigidTransform startingTransform, ref Vector3 sweep, Func<BroadPhaseEntry, bool> filter, out RayHit hit, out CompoundChild hitChild)
{
hit = new RayHit();
hitChild = null;
BoundingBox boundingBox;
castShape.GetSweptBoundingBox(ref startingTransform, ref sweep, out boundingBox);
var hitElements = PhysicsResources.GetCompoundChildList();
if (hierarchy.Tree.GetOverlaps(boundingBox, hitElements))
{
hit.T = float.MaxValue;
for (int i = 0; i < hitElements.Count; i++)
{
var candidate = hitElements.Elements[i].CollisionInformation;
RayHit tempHit;
if (candidate.ConvexCast(castShape, ref startingTransform, ref sweep, filter, out tempHit) && tempHit.T < hit.T)
{
hit = tempHit;
hitChild = hitElements.Elements[i];
}
}
PhysicsResources.GiveBack(hitElements);
return hit.T != float.MaxValue;
}
PhysicsResources.GiveBack(hitElements);
return false;
}