public bool CCDCast(ODEBody ccdBody, Vec3 start, Vec3 end, int contactGroup,
out float minDistance)
{
Vec3 direction = end - start;
if (Math.Abs(direction.X) < .0001f && Math.Abs(direction.Y) < .0001f &&
Math.Abs(direction.Z) < .0001f)
{
minDistance = 0;
return(false);
}
Ray ray = new Ray(start, direction);
Vec3 dirNormal = ray.Direction;
float length = dirNormal.Normalize();
Ode.dGeomRaySet(rayCastGeomID, ray.Origin.X, ray.Origin.Y, ray.Origin.Z,
dirNormal.X, dirNormal.Y, dirNormal.Z);
Ode.dGeomRaySetLength(rayCastGeomID, length);
return(Ode.DoCCDCast(neoAxisAdditionsID, ccdBody.bodyID, contactGroup, out minDistance));
}