Function cast_ray

pub fn cast_ray<N, G>(
    m: &Isometry<N>,
    shape: &G,
    simplex: &mut VoronoiSimplex<N>,
    ray: &Ray<N>,
    max_toi: N,
) -> Option<(N, Vector<N>)>
where
    N: RealField + Copy,
    G: SupportMap<N> + ?Sized,

Casts a ray on a support map using the GJK algorithm.