/// <summary>
/// Gets the intersection between the convex shape and the ray.
/// </summary>
/// <param name="ray">Ray to test.</param>
/// <param name="transform">Transform of the convex shape.</param>
/// <param name="maximumLength">Maximum distance to travel in units of the ray direction's length.</param>
/// <param name="hit">Ray hit data, if any.</param>
/// <returns>Whether or not the ray hit the target.</returns>
public virtual bool RayTest(ref Ray ray, ref RigidTransform transform, float maximumLength, out RayHit hit)
{
//RayHit newHit;
//bool newBool = GJKToolbox.RayCast(ray, this, ref transform, maximumLength, out newHit);
//RayHit oldHit;
//bool oldBool = OldGJKVerifier.RayCastGJK(ray.Position, ray.Direction, maximumLength, this, transform, out oldHit.Location, out oldHit.Normal, out oldHit.T);
//bool mprBool = MPRToolbox.RayCast(ray, maximumLength, this, ref transform, out hit);
////if (newBool != oldBool || ((newBool && oldBool) && Vector3.DistanceSquared(newHit.Location, hit.Location) > .01f))
//// Debug.WriteLine("break.");
//return mprBool;
//if (GJKToolbox.RayCast(ray, this, ref transform, maximumLength, out hit))
//{
// //GJK toolbox doesn't normalize the hit normal; it's unnecessary for some other systems so it just saves on time.
// //It would be nice if ray tests always normalized it though.
// float length = hit.Normal.LengthSquared();
// if (length > Toolbox.Epsilon)
// Vector3.Divide(ref hit.Normal, (float) Math.Sqrt(length), out hit.Normal);
// else
// hit.Normal = new Vector3();
// return true;
//}
//return false;
return(MPRToolbox.RayCast(ray, maximumLength, this, ref transform, out hit));
}
/// <summary>
/// Gets the intersection between the convex shape and the ray.
/// </summary>
/// <param name="ray">Ray to test.</param>
/// <param name="transform">Transform of the convex shape.</param>
/// <param name="maximumLength">Maximum distance to travel in units of the ray direction's length.</param>
/// <param name="hit">Ray hit data, if any.</param>
/// <returns>Whether or not the ray hit the target.</returns>
public virtual bool RayTest(ref Ray ray, ref RigidTransform transform, float maximumLength, out RayHit hit)
{
return(MPRToolbox.RayCast(ray, maximumLength, this, ref transform, out hit));
}