public bool ConvexCast(ConvexShape castShape, ref RigidTransform startingTransform, ref Vector3 sweepnorm, double slen, MaterialSolidity solidness, out RayHit hit) { RigidTransform.MultiplyByInverse(ref startingTransform, ref worldTransform, out RigidTransform rt); Vector3 swp = Quaternion.Transform(sweepnorm, Quaternion.Inverse(worldTransform.Orientation)); bool h = ChunkShape.ConvexCast(castShape, ref rt, ref swp, slen, solidness, out RayHit rh); RigidTransform.Transform(ref rh.Location, ref worldTransform, out hit.Location); hit.Normal = rh.Normal; hit.T = rh.T; return(h); }