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);
}
