Assets/Scenes/PhysicsSandbox.shade

@@ -66,7 +66,7 @@
   NumberOfChildren: 0
   Components:
     Transform Component:
-      Translate: {x: -1.45715916, y: 7, z: 0.319963396}
+      Translate: {x: -1.45715916, y: 7, z: 0.64831841}
       Rotate: {x: -0, y: 0, z: -0}
       Scale: {x: 1, y: 1, z: 1}
       IsActive: true

SHADE_Engine/src/Physics/Collision/Narrowphase/SHCollision.h

@@ -84,9 +84,27 @@ namespace SHADE
 
     // Sphere VS Convex
 
-    static FaceQuery  findClosestFace   (const SHSphereCollisionShape& sphere, const SHConvexPolyhedronCollisionShape& polyhedron) noexcept;
+    static FaceQuery  findClosestFace
-    static int32_t    findClosestPoint  (const SHSphereCollisionShape& sphere, const SHConvexPolyhedronCollisionShape& polyhedron, int32_t faceIndex) noexcept;
+    (
-    static int32_t    findVoronoiRegion (const SHSphereCollisionShape& sphere, const SHVec3& faceVertex, const SHVec3& faceNormal, const SHVec3& tangent1, const SHVec3& tangent2) noexcept;
+      const SHSphereCollisionShape&           sphere
+    , const SHConvexPolyhedronCollisionShape& polyhedron
+    ) noexcept;
+
+    static int32_t    findClosestPoint
+    (
+      const SHSphereCollisionShape&           sphere
+    , const SHConvexPolyhedronCollisionShape& polyhedron
+    , int32_t                                 faceIndex
+    ) noexcept;
+
+    static int32_t    findVoronoiRegion
+    (
+      const SHSphereCollisionShape& sphere
+    , const SHVec3&                 faceVertex
+    , const SHVec3&                 faceNormal
+    , const SHVec3&                 tangent1
+    , const SHVec3&                 tangent2
+    ) noexcept;
 
     // Capsule VS Convex
 

SHADE_Engine/src/Physics/Collision/Narrowphase/SHSphereVsConvex.cpp

@@ -185,7 +185,11 @@ namespace SHADE
   /* Private Member Functions Definitions                                              */
   /*-----------------------------------------------------------------------------------*/
 
-  SHCollision::FaceQuery SHCollision::findClosestFace(const SHSphereCollisionShape& sphere, const SHConvexPolyhedronCollisionShape& polyhedron) noexcept
+  SHCollision::FaceQuery SHCollision::findClosestFace
+  (
+    const SHSphereCollisionShape&           sphere
+  , const SHConvexPolyhedronCollisionShape& polyhedron
+  ) noexcept
   {
     FaceQuery faceQuery;
 
@@ -227,7 +231,12 @@ namespace SHADE
     return faceQuery;
   }
 
-  int32_t SHCollision::findClosestPoint(const SHSphereCollisionShape& sphere, const SHConvexPolyhedronCollisionShape& polyhedron, int32_t faceIndex) noexcept
+  int32_t SHCollision::findClosestPoint
+  (
+    const SHSphereCollisionShape&           sphere
+  , const SHConvexPolyhedronCollisionShape& polyhedron
+  , int32_t                                 faceIndex
+  ) noexcept
   {
     // Find closest point on face
     int32_t closestPointIndex = -1;
@@ -253,7 +262,14 @@ namespace SHADE
     return closestPointIndex;
   }
 
-  int32_t SHCollision::findVoronoiRegion(const SHSphereCollisionShape& sphere, const SHVec3& faceVertex, const SHVec3& faceNormal, const SHVec3& tangent1, const SHVec3& tangent2) noexcept
+  int32_t SHCollision::findVoronoiRegion
+  (
+    const SHSphereCollisionShape& sphere
+  , const SHVec3&                 faceVertex
+  , const SHVec3&                 faceNormal
+  , const SHVec3&                 tangent1
+  , const SHVec3&                 tangent2
+  ) noexcept
   {
     static constexpr int NUM_TANGENTS = 2;
 

SHADE_Engine/src/Physics/Collision/SHCollisionSpace.cpp

@@ -160,44 +160,53 @@ namespace SHADE
       contactManager->Update();
   }
 
-  const SHCollisionSpace::RaycastHits& SHCollisionSpace::Raycast(const SHRay& ray, float distance, uint16_t layer) noexcept
+  const SHCollisionSpace::RaycastResults& SHCollisionSpace::Raycast(const RaycastInfo& info) noexcept
   {
-    raycastHits.clear();
+    static RaycastResults results;
+    results.clear();
+
+    const bool FILTER_COLLIDER = info.colliderEntityID.has_value();
+
+    // Cast ray into the broadphase scene
+    const auto& POTENTIAL_HITS = broadphase.Query(info.ray, info.distance);
 
-    const auto& POTENTIAL_HITS = broadphase.Query(ray, distance);
     if (POTENTIAL_HITS.empty())
-      return raycastHits;
+      return results;
 
-    // Test potential hits individually
+    // Iterate through all potential hits
-    // Cull entities that are on different layers
+    const int NUM_HITS = static_cast<int>(POTENTIAL_HITS.size());
-    for (auto& shapeID : POTENTIAL_HITS)
+    for (const int i : std::ranges::views::iota(0, NUM_HITS))
     {
+      const auto HIT_ID = POTENTIAL_HITS[i];
+
+      const EntityID EID = HIT_ID.GetEntityID();
+
+      if (FILTER_COLLIDER && EID == info.colliderEntityID.value())
+        continue;
+
       // Get shape
-      const EntityID EID = shapeID.GetEntityID();
+      const uint32_t IDX = HIT_ID.GetShapeIndex();
-      const uint32_t IDX = shapeID.GetShapeIndex();
+      const auto* SHAPE = colliders.find(EID)->second->GetCollisionShape(IDX);
 
-      const auto* COLLIDER  = colliders.find(EID)->second;
+      // Filter the layers
-      const auto* SHAPE     = COLLIDER->GetCollisionShape(IDX);
+      const bool LAYER_MATCH = SHAPE->GetCollisionTag().GetMask() & info.layers;
-
-      // Cull by layer
-      const bool LAYER_MATCH = SHAPE->GetCollisionTag().GetMask() & layer;
       if (!LAYER_MATCH)
         continue;
 
-      // Well this is awkward...I honestly don't have the mental capacity to solve this oversight right now.
+      // We cast to the underlying shape. THis is done because a convex hull will not have an inherited raycast method.
-      // Cast the underlying shape to raycast. Convex hulls do not have an inherited raycast function
+      // Kinda awkward oversight...oops
 
-      SHRaycastResult result;
+      SHRaycastResult baseResult;
       switch (SHAPE->GetType())
       {
         case SHCollisionShape::Type::SPHERE:
         {
-          result = dynamic_cast<const SHSphereCollisionShape*>(SHAPE)->Raycast(ray);
+          baseResult = dynamic_cast<const SHSphereCollisionShape*>(SHAPE)->Raycast(info.ray);
           break;
         }
         case SHCollisionShape::Type::BOX:
         {
-          result = dynamic_cast<const SHBoxCollisionShape*>(SHAPE)->Raycast(ray);
+          baseResult = dynamic_cast<const SHBoxCollisionShape*>(SHAPE)->Raycast(info.ray);
           break;
         }
         case SHCollisionShape::Type::CAPSULE:
@@ -205,118 +214,25 @@ namespace SHADE
           // TODO
           break;
         }
-        default: break;
+        default: continue;  // Redundant case
       }
 
-      // If distance is greater than specified, skip this result
+      if (!baseResult || baseResult.distance > info.distance)
-      if (!result || result.distance > distance)
         continue;
 
-      SHPhysicsRaycastResult physicsResult;
+      // Copy to a physics raycast result
-      physicsResult.hit         = result.hit;
+      SHPhysicsRaycastResult result;
-      physicsResult.distance    = result.distance;
+      memcpy_s(&result, sizeof(SHRaycastResult), &baseResult, sizeof(SHRaycastResult));
-      physicsResult.angle       = result.angle;
-      physicsResult.position    = result.position;
-      physicsResult.normal      = result.normal;
-      physicsResult.entityHit   = EID;
-      physicsResult.shapeIndex  = IDX;
 
-      raycastHits.emplace_back(physicsResult);
+      result.entityHit  = EID;
+      result.shapeIndex = IDX;
+
+      results.emplace_back(result);
     }
 
-    // Sort by distance
+    return results;
-    std::ranges::sort(raycastHits.begin(), raycastHits.end(), [](const SHPhysicsRaycastResult& lhs, const SHPhysicsRaycastResult& rhs)
-    {
-      return lhs.distance < rhs.distance;
-    });
-
-    return raycastHits;
   }
 
-  const SHCollisionSpace::RaycastHits& SHCollisionSpace::Linecast(const SHVec3& start, const SHVec3& end, uint16_t layer) noexcept
-  {
-    // Create bounded ray and reuse the raycast function
-    const SHRay BOUNDED_RAY{ start, SHVec3::Normalise(end - start) };
-    const float DISTANCE = SHVec3::Distance(end, start);
-
-    return Raycast(BOUNDED_RAY, DISTANCE, layer);
-  }
-
-  const SHCollisionSpace::RaycastHits& SHCollisionSpace::ColliderRaycast(EntityID colliderEID, const SHRay& ray, float distance, uint16_t layer) noexcept
-  {
-    raycastHits.clear();
-
-    const auto& POTENTIAL_HITS = broadphase.Query(ray, distance);
-    if (POTENTIAL_HITS.empty())
-      return raycastHits;
-
-    // Test potential hits individually
-    // Cull entities that are on different layers
-    for (auto& shapeID : POTENTIAL_HITS)
-    {
-      // Get shape
-      const EntityID  EID       = shapeID.GetEntityID();
-      const auto*     COLLIDER  = colliders.find(EID)->second;
-      // Cull any shapes on the same entity
-      if (EID == colliderEID)
-        continue;
-
-      const uint32_t  IDX   = shapeID.GetShapeIndex();
-      const auto*     SHAPE = COLLIDER->GetCollisionShape(IDX);
-
-      // Cull by layer
-      const bool LAYER_MATCH = SHAPE->GetCollisionTag().GetMask() & layer;
-      if (!LAYER_MATCH)
-        continue;
-
-      // Well this is awkward...I honestly don't have the mental capacity to solve this oversight right now.
-      // Cast the underlying shape to raycast. Convex hulls do not have an inherited raycast function
-
-      SHRaycastResult result;
-      switch (SHAPE->GetType())
-      {
-        case SHCollisionShape::Type::SPHERE:
-        {
-          result = dynamic_cast<const SHSphereCollisionShape*>(SHAPE)->Raycast(ray);
-          break;
-        }
-        case SHCollisionShape::Type::BOX:
-        {
-          result = dynamic_cast<const SHBoxCollisionShape*>(SHAPE)->Raycast(ray);
-          break;
-        }
-        case SHCollisionShape::Type::CAPSULE:
-        {
-          // TODO
-          break;
-        }
-        default: break;
-      }
-
-      // If distance is greater than specified, skip this result
-      if (!result || result.distance > distance)
-        continue;
-
-      SHPhysicsRaycastResult physicsResult;
-      physicsResult.hit         = result.hit;
-      physicsResult.distance    = result.distance;
-      physicsResult.angle       = result.angle;
-      physicsResult.position    = result.position;
-      physicsResult.normal      = result.normal;
-      physicsResult.entityHit   = EID;
-      physicsResult.shapeIndex  = IDX;
-
-      raycastHits.emplace_back(physicsResult);
-    }
-
-    // Sort by distance
-    std::ranges::sort(raycastHits.begin(), raycastHits.end(), [](const SHPhysicsRaycastResult& lhs, const SHPhysicsRaycastResult& rhs)
-    {
-      return lhs.distance < rhs.distance;
-    });
-
-    return raycastHits;
-  }
 
   /*-----------------------------------------------------------------------------------*/
   /* Private Member Functions Definitions                                              */

SHADE_Engine/src/Physics/Collision/SHCollisionSpace.h

@@ -13,12 +13,15 @@
 
 #pragma once
 
+#include <optional>
+
 // Project Headers
 #include "Broadphase/SHDynamicAABBTree.h"
 #include "Physics/Dynamics/SHContactManager.h"
 #include "SHCollider.h"
 #include "SHPhysicsRaycastResult.h"
 #include "CollisionTags/SHCollisionTags.h"
+#include "CollisionTags/SHCollisionTags.h"
 
 namespace SHADE
 {
@@ -38,7 +41,52 @@ namespace SHADE
     /* Type Definitions                                                                */
     /*---------------------------------------------------------------------------------*/
 
-    using RaycastHits = std::vector<SHPhysicsRaycastResult>;
+    /**
+     * @brief
+     * Contains information to cast a ray into the collision space.
+     * The collider entityID and shape index is optional. 
+    */
+    struct RaycastInfo
+    {
+    private:
+      /*-------------------------------------------------------------------------------*/
+      /* Friends                                                                       */
+      /*-------------------------------------------------------------------------------*/
+
+      friend class SHCollisionSpace;
+
+    public:
+      /*-------------------------------------------------------------------------------*/
+      /* Data Members                                                                  */
+      /*-------------------------------------------------------------------------------*/
+
+      bool      continuous  = false;
+      uint16_t  layers      = static_cast<uint16_t>(SHCollisionTag::Layer::ALL);
+      float     distance    = std::numeric_limits<float>::infinity();
+      SHRay     ray;
+
+      /*-------------------------------------------------------------------------------*/
+      /* Setter Functions                                                              */
+      /*-------------------------------------------------------------------------------*/
+
+      /**
+       * @brief
+       * Sets the collider ID for the raycast. Setting this specifies that the ray
+       * should ignore this collider.
+       * @param eid
+       * The entity ID of the collider.
+      */
+      void SetColliderID(EntityID eid) noexcept { colliderEntityID = eid; }
+
+    private:
+      /*-------------------------------------------------------------------------------*/
+      /* Data Members                                                                  */
+      /*-------------------------------------------------------------------------------*/
+
+      std::optional<EntityID> colliderEntityID;
+    };
+
+    using RaycastResults = std::vector<SHPhysicsRaycastResult>;
 
     /*---------------------------------------------------------------------------------*/
     /* Constructors & Destructor                                                       */
@@ -98,68 +146,13 @@ namespace SHADE
     /**
      * @brief
      * Casts a ray into the collision space.
-     * @param ray
+     * @param info
-     * The ray to cast. The direction of the ray must be normalised.
+     * Contains the information for the raycast.
-     * @param distance
-     * The distance to cast the ray. Defaults to infinity.
-     * @param layer
-     * The layer(s) the ray is casting on. Defaults to all layers.
      * @return
-     * A container of all the objects the raycast hit, ordered by distance. <br/>
+     * A container of the objects hit by the ray. If nothing was hit, the container
-     * The first object in the container is the first object hit etc.
+     * will be empty.
      */
-    [[nodiscard]] const RaycastHits& Raycast
+    [[nodiscard]] const RaycastResults& Raycast(const RaycastInfo& info) noexcept;
-    (
-      const SHRay&  ray
-    , float         distance  = std::numeric_limits<float>::infinity()
-    , uint16_t      layer     = static_cast<uint16_t>(SHCollisionTag::Layer::ALL)
-    ) noexcept;
-
-    /**
-     * @brief
-     * Casts a bounded ray into the collision space.
-     * @param start
-     * The origin of the ray.
-     * @param end
-     * The end of the ray.
-     * @param layer
-     * The layer(s) the ray is casting on. Defaults to all layers.
-     * @return
-     * A container of all the objects the raycast hit, ordered by distance. <br/>
-     * The first object in the container is the first object hit etc.
-     */
-    [[nodiscard]] const RaycastHits& Linecast
-    (
-      const SHVec3& start
-    , const SHVec3& end
-    , uint16_t      layer   = static_cast<uint16_t>(SHCollisionTag::Layer::ALL)
-    ) noexcept;
-
-    /**
-     * @brief
-     * Casts a ray into the collision space from a collider's position. <br/>
-     * The collider and all it's shapes will be ignored.
-     * @param colliderEID
-     * The entityID of the collider to cast from.
-     * @param ray
-     * The ray to cast. <br/>
-     * The position of the ray is the position offset from the collider's position. <br/>
-     * The direction of the ray must be normalised.
-     * @param distance
-     * The distance to cast the ray. Defaults to infinity.
-     * @param layer
-     * The layer(s) the ray is casting on. Defaults to all layers.
-     * @return
-     * A container of all the objects the raycast hit, ordered by distance. <br/>
-     * The first object in the container is the first object hit etc.
-     */
-    [[nodiscard]] const RaycastHits& ColliderRaycast
-    (
-      EntityID      colliderEID 
-    , const SHRay&  ray
-    , float         distance  = std::numeric_limits<float>::infinity()
-    , uint16_t      layer     = static_cast<uint16_t>(SHCollisionTag::Layer::ALL)
-    ) noexcept;
 
   private:
     /*---------------------------------------------------------------------------------*/
@@ -184,25 +177,20 @@ namespace SHADE
     Colliders         colliders;
     NarrowphaseBatch  narrowphaseBatch;
 
-    RaycastHits       raycastHits;    // Reusable container for raycast results
-
     SHAABBTree        broadphase;
 
-    
-
     /*---------------------------------------------------------------------------------*/
     /* Member Functions                                                                */
     /*---------------------------------------------------------------------------------*/
 
     // Broadphase helpers
 
-    void broadphaseQuery (SHRigidBody::Type rigidBodyType, SHCollider* collider) noexcept;
+    void                    broadphaseQuery   (SHRigidBody::Type rigidBodyType, SHCollider* collider) noexcept;
 
     // Narrowphase helpers
 
-    void collideTriggers  (const SHCollisionKey& key, NarrowphasePair& narrowphasePair) const noexcept;
+    void                    collideTriggers   (const SHCollisionKey& key, NarrowphasePair& narrowphasePair) const noexcept;
-    void collideManifolds (const SHCollisionKey& key, NarrowphasePair& narrowphasePair) const noexcept;
+    void                    collideManifolds  (const SHCollisionKey& key, NarrowphasePair& narrowphasePair) const noexcept;
-
   };
   
 } // namespace SHADE

SHADE_Engine/src/Physics/System/SHPhysicsSystem.cpp

@@ -19,6 +19,7 @@
 #include "ECS_Base/Managers/SHEntityManager.h"
 #include "ECS_Base/Managers/SHSystemManager.h"
 #include "Editor/SHEditor.h"
+#include "Physics/Collision/SHCollisionSpace.h"
 #include "Physics/Collision/CollisionTags/SHCollisionTagMatrix.h"
 #include "Physics/Interface/SHColliderComponent.h"
 #include "Scripting/SHScriptEngine.h"
@@ -189,6 +190,25 @@ namespace SHADE
     }
   }
 
+  const std::vector<SHPhysicsRaycastResult>& SHPhysicsSystem::Raycast(const SHCollisionSpace::RaycastInfo& info) noexcept
+  {
+    auto& results = collisionSpace->Raycast(info);
+
+    // Load start and end points into the container for debug drawing
+    #ifdef SHEDITOR
+
+      SHVec3 endPos = info.ray.position + info.ray.direction * SHRay::MAX_RAYCAST_DIST;
+
+      if (!results.empty())
+        endPos = results.back().position;
+        
+      raycastHits.emplace_back(info.ray.position, endPos);
+      
+    #endif
+
+    return results;
+  }
+
   /*-----------------------------------------------------------------------------------*/
   /* Private Function Member Definitions                                               */
   /*-----------------------------------------------------------------------------------*/

SHADE_Engine/src/Physics/System/SHPhysicsSystem.h

@@ -76,8 +76,25 @@ namespace SHADE
     */
     void  Init() override;
     void  Exit() override;
+
+    /**
+     * @brief
+     * Forces the world to take a single step. Interpolation of bodies cannot be done when
+     * forcing an update.
+    */
     void  ForceUpdate();
 
+    /**
+     * @brief
+     * Casts a ray into the collision space.
+     * @param info
+     * Contains the information for the raycast.
+     * @return
+     * A container of the objects hit by the ray. If nothing was hit, the container
+     * will be empty.
+     */
+    [[nodiscard]] const std::vector<SHPhysicsRaycastResult>& Raycast(const SHCollisionSpace::RaycastInfo& info) noexcept;
+
     /*---------------------------------------------------------------------------------*/
     /* System Routines                                                                 */
     /*---------------------------------------------------------------------------------*/
@@ -129,6 +146,12 @@ namespace SHADE
 
     using EventFunctionPair = std::pair<SHEventHandle(SHPhysicsSystem::*)(SHEventPtr), SHEventIdentifier>;
 
+    struct RaycastHit
+    {
+      SHVec3 start;
+      SHVec3 end;
+    };
+
     /*---------------------------------------------------------------------------------*/
     /* Data Members                                                                    */
     /*---------------------------------------------------------------------------------*/
@@ -149,6 +172,11 @@ namespace SHADE
     SHCollisionSpace*       collisionSpace;
     SHPhysicsObjectManager  physicsObjectManager;
 
+    // For the debug drawer to draw rays
+  #ifdef SHEDITOR
+    std::vector<RaycastHit> raycastHits;
+  #endif
+
     /*---------------------------------------------------------------------------------*/
     /* Function Members                                                                */
     /*---------------------------------------------------------------------------------*/

SHADE_Engine/src/Physics/System/SHPhysicsSystemInterface.cpp

@@ -67,4 +67,16 @@ namespace SHADE
     return 0.0;
   }
 
+  const std::vector<SHPhysicsRaycastResult>& SHPhysicsSystemInterface::Raycast(const SHCollisionSpace::RaycastInfo& info) noexcept
+  {
+    static std::vector<SHPhysicsRaycastResult> emptyVec;
+
+    auto* physicsSystem = SHSystemManager::GetSystem<SHPhysicsSystem>();
+    if (physicsSystem)
+      return physicsSystem->Raycast(info);
+
+    SHLOGV_WARNING("Failed to get fixed update rate. 0.0 returned instead.");
+    return emptyVec;
+  }
+
 }

SHADE_Engine/src/Physics/System/SHPhysicsSystemInterface.h

@@ -14,6 +14,7 @@ of DigiPen Institute of Technology is prohibited.
 
 // Project Headers
 #include "ECS_Base/Entity/SHEntity.h"
+#include "Physics/Collision/SHCollisionSpace.h"
 #include "Physics/Collision/Contacts/SHCollisionEvents.h"
 
 
@@ -26,6 +27,7 @@ namespace SHADE
   class   SHVec3;
   struct  SHRay;
   struct  SHPhysicsRaycastResult;
+  struct  SHCollisionSpace::RaycastInfo;
 
 
   /*-----------------------------------------------------------------------------------*/
@@ -47,9 +49,12 @@ namespace SHADE
     /* Static Usage Functions                                                          */
     /*---------------------------------------------------------------------------------*/
 
-    [[nodiscard]] static const std::vector<SHCollisionEvent>& GetCollisionInfo    ()  noexcept;
+    [[nodiscard]] static const std::vector<SHCollisionEvent>&       GetCollisionInfo    ()  noexcept;
-    [[nodiscard]] static const std::vector<SHTriggerEvent>&   GetTriggerInfo      ()  noexcept;
+    [[nodiscard]] static const std::vector<SHTriggerEvent>&         GetTriggerInfo      ()  noexcept;
-    [[nodiscard]] static double                               GetFixedDT          ()  noexcept;
+    [[nodiscard]] static double                                     GetFixedDT          ()  noexcept;
-    [[nodiscard]] static int                                  GetFixedUpdateRate  ()  noexcept;
+    [[nodiscard]] static int                                        GetFixedUpdateRate  ()  noexcept;
+    [[nodiscard]] static const std::vector<SHPhysicsRaycastResult>& Raycast             (const SHCollisionSpace::RaycastInfo& info) noexcept;
+
+
   };
 }

SHADE_Managed/src/Components/Collider.cxx

@@ -128,39 +128,19 @@ namespace SHADE
     /*---------------------------------------------------------------------------------*/
     Vector3 BoxCollider::Center::get()
     {
-      //return Convert::ToCLI(getNativeCollisionShape<SHAABB>().GetCenter());
+      return Convert::ToCLI(getNativeCollisionShape<SHBoxCollisionShape>().GetCenter());
-      return Vector3::Zero;
-    }
-    void BoxCollider::Center::set(Vector3 value)
-    {
-        //getNativeCollisionShape<SHAABB>().SetCenter(Convert::ToNative(value));
     }
     Vector3 BoxCollider::HalfExtents::get()
     {
-      //return Convert::ToCLI(getNativeCollisionShape<SHAABB>().GetExtents());
+      return Convert::ToCLI(getNativeCollisionShape<SHBoxCollisionShape>().GetWorldExtents());
-      return Vector3::Zero;
     }
     void BoxCollider::HalfExtents::set(Vector3 value)
     {
-      //getNativeCollisionShape<SHAABB>().SetExtents(Convert::ToNative(value));
+      getNativeCollisionShape<SHBoxCollisionShape>().SetWorldExtents(Convert::ToNative(value));
     }
-    Vector3 BoxCollider::Min::get()
+    Quaternion BoxCollider::Orientation::get()
     {
-      //return Convert::ToCLI(getNativeCollisionShape<SHAABB>().GetMin());
+      return Convert::ToCLI(getNativeCollisionShape<SHBoxCollisionShape>().GetOrientation());
-      return Vector3::Zero;
-    }
-    void BoxCollider::Min::set(Vector3 value)
-    {
-      //getNativeCollisionShape<SHAABB>().SetMin(Convert::ToNative(value));
-    }
-    Vector3 BoxCollider::Max::get()
-    {
-      //return Convert::ToCLI(getNativeCollisionShape<SHAABB>().GetMax());
-      return Vector3::Zero;
-    }
-    void BoxCollider::Max::set(Vector3 value)
-    {
-      //getNativeCollisionShape<SHAABB>().SetMax(Convert::ToNative(value));
     }
 
     /*---------------------------------------------------------------------------------*/
@@ -184,10 +164,6 @@ namespace SHADE
     {
         return Convert::ToCLI(getNativeCollisionShape<SHSphereCollisionShape>().GetCenter());
     }
-    void SphereCollider::Center::set(Vector3 value)
-    {
-        getNativeCollisionShape<SHSphereCollisionShape>().SetCenter(Convert::ToNative(value));
-    }
     float SphereCollider::Radius::get()
     {
         return getNativeCollisionShape<SHSphereCollisionShape>().GetWorldRadius();

SHADE_Managed/src/Components/Collider.hxx

@@ -142,15 +142,14 @@ namespace SHADE
         /* Properties                                                                  */
         /*-----------------------------------------------------------------------------*/
         /// <summary>
-        /// Center of the Bounding Box formed by this bound.
+        /// Center of the box collider.
         /// </summary>
         property Vector3 Center
         {
             Vector3 get();
-            void set(Vector3 value);
         }
         /// <summary>
-        /// Half of the scale of the Bounding Box formed by this bound.
+        /// Half of the scale of the box collider.
         /// </summary>
         property Vector3 HalfExtents
         {
@@ -158,22 +157,11 @@ namespace SHADE
             void set(Vector3 value);
         }
         /// <summary>
-        /// Position of the bottom left back corner of the Bounding Box formed by this 
+        /// The orientation of the box.
-        /// bound.
         /// </summary>
-        property Vector3 Min
+        property Quaternion Orientation
         {
-            Vector3 get();
+          Quaternion get();
-            void set(Vector3 value);
-        }
-        /// <summary>
-        /// Position of the top right front corner of the Bounding Box formed by this 
-        /// bound.
-        /// </summary>
-        property Vector3 Max
-        {
-            Vector3 get();
-            void set(Vector3 value);
         }
 
         /*-----------------------------------------------------------------------------*/
@@ -201,12 +189,11 @@ namespace SHADE
         /* Properties                                                                  */
         /*-----------------------------------------------------------------------------*/
         /// <summary>
-        /// Center of the Bounding Sphere formed by this bound.
+        /// Center of the sphere.
         /// </summary>
         property Vector3 Center
         {
             Vector3 get();
-            void set(Vector3 value);
         }
         /// <summary>
         /// Radius of the Bounding Sphere formed by this bound.

SHADE_Managed/src/Physics/Physics.cxx

@@ -15,10 +15,15 @@
 // External Dependencies
 #include "Physics/System/SHPhysicsSystemInterface.h"
 // Project Header
+#include "Components/Collider.hxx"
+#include "Components/Transform.hxx"
 #include "Engine/GameObject.hxx"
+#include "Physics/Collision/SHCollisionSpace.h"
 #include "Utility/Convert.hxx"
 #include "Utility/Debug.hxx"
 
+using namespace System::Collections::Generic;
+
 namespace SHADE
 {
   /*-----------------------------------------------------------------------------------*/
@@ -41,49 +46,301 @@ namespace SHADE
   /* Raycast Function Member Definitions                                               */
   /*-----------------------------------------------------------------------------------*/
 
-  RaycastHit Physics::Raycast(Ray ray)
+  List<RaycastHit>^ Physics::Raycast(Ray ray, bool continuous)
   {
-    return RaycastHit{};
+    List<RaycastHit>^ results = gcnew List<RaycastHit>();
+
+    // Cast natively
+    SHCollisionSpace::RaycastInfo raycastInfo;
+    raycastInfo.ray         = Convert::ToNative(ray);
+    raycastInfo.continuous  = continuous;
+
+    const auto& NATIVE_RESULTS = SHPhysicsSystemInterface::Raycast(raycastInfo);
+    if (!NATIVE_RESULTS.empty())
+    {
+      for (const auto& nativeResult : NATIVE_RESULTS)
+        results->Add(Convert::ToCLI(nativeResult));
+    }
+
+    return results;
   }
 
-  RaycastHit Physics::Raycast(Ray ray, float distance)
+  List<RaycastHit>^ Physics::Raycast(Ray ray, float distance, bool continuous)
   {
-    return RaycastHit{};
+    List<RaycastHit>^ results = gcnew List<RaycastHit>();
+
+    // Cast natively
+    SHCollisionSpace::RaycastInfo raycastInfo;
+    raycastInfo.ray         = Convert::ToNative(ray);
+    raycastInfo.distance    = distance;
+    raycastInfo.continuous  = continuous;
+
+    const auto& NATIVE_RESULTS = SHPhysicsSystemInterface::Raycast(raycastInfo);
+    if (!NATIVE_RESULTS.empty())
+    {
+      for (const auto& nativeResult : NATIVE_RESULTS)
+        results->Add(Convert::ToCLI(nativeResult));
+    }
+
+    return results;
   }
 
-  RaycastHit Physics::Linecast(Vector3 start, Vector3 end)
+  List<RaycastHit>^ Physics::Linecast(Vector3 start, Vector3 end, bool continuous)
   {
-    return RaycastHit{};
+    List<RaycastHit>^ results = gcnew List<RaycastHit>();
+
+    // Cast natively
+    Vector3 direction = end - start;
+    direction.Normalise();
+    const Ray CLI_RAY( start, direction );
+
+    SHCollisionSpace::RaycastInfo raycastInfo;
+    raycastInfo.ray         = Convert::ToNative(CLI_RAY);
+    raycastInfo.distance    = (end - start).GetMagnitude();
+    raycastInfo.continuous  = continuous;
+
+    const auto& NATIVE_RESULTS = SHPhysicsSystemInterface::Raycast(raycastInfo);
+    if (!NATIVE_RESULTS.empty())
+    {
+      for (const auto& nativeResult : NATIVE_RESULTS)
+        results->Add(Convert::ToCLI(nativeResult));
+    }
+
+    return results;
   }
 
-  RaycastHit Physics::ColliderRaycast(GameObject object, Ray ray)
+  List<RaycastHit>^ Physics::ColliderRaycast(GameObject object, Ray ray, bool continuous)
   {
-    return RaycastHit{};
+    List<RaycastHit>^ results = gcnew List<RaycastHit>();
+
+    // Get the collider's position (same as the transform)
+    Transform^ managedTransform = object.GetComponent<Transform^>();
+    if (!managedTransform)
+      throw gcnew System::InvalidOperationException("Attempted to retrieve invalid Transform."); 
+
+    const Vector3 COLLIDER_POS = managedTransform->GlobalPosition;
+    ray.Position += COLLIDER_POS;
+
+    SHCollisionSpace::RaycastInfo raycastInfo;
+    raycastInfo.ray         = Convert::ToNative(ray);
+    raycastInfo.continuous  = continuous;
+    raycastInfo.SetColliderID(object.EntityId);
+
+    const auto& NATIVE_RESULTS = SHPhysicsSystemInterface::Raycast(raycastInfo);
+    if (!NATIVE_RESULTS.empty())
+    {
+      for (const auto& nativeResult : NATIVE_RESULTS)
+        results->Add(Convert::ToCLI(nativeResult));
+    }
+
+    return results;
   }
 
-  RaycastHit Physics::ColliderRaycast(GameObject object, Ray ray, float distance)
+  List<RaycastHit>^ Physics::ColliderRaycast(GameObject object, Ray ray, float distance, bool continuous)
   {
-    return RaycastHit{};
+    List<RaycastHit>^ results = gcnew List<RaycastHit>();
+
+    // Get the collider's position (same as the transform)
+    Transform^ managedTransform = object.GetComponent<Transform^>();
+    if (!managedTransform)
+      throw gcnew System::InvalidOperationException("Attempted to retrieve invalid Transform."); 
+
+    const Vector3 COLLIDER_POS = managedTransform->GlobalPosition;
+    ray.Position += COLLIDER_POS;
+
+    SHCollisionSpace::RaycastInfo raycastInfo;
+    raycastInfo.ray         = Convert::ToNative(ray);
+    raycastInfo.distance    = distance;
+    raycastInfo.continuous  = continuous;
+    raycastInfo.SetColliderID(object.EntityId);
+
+    const auto& NATIVE_RESULTS = SHPhysicsSystemInterface::Raycast(raycastInfo);
+    if (!NATIVE_RESULTS.empty())
+    {
+      for (const auto& nativeResult : NATIVE_RESULTS)
+        results->Add(Convert::ToCLI(nativeResult));
+    }
+
+    return results;
   }
 
-  RaycastHit Physics::ColliderRaycast(GameObject object, int shapeIndex, Ray ray)
+  List<RaycastHit>^ Physics::ColliderRaycast(GameObject object, int shapeIndex, Ray ray, bool continuous)
   {
-    return RaycastHit{};
+    List<RaycastHit>^ results = gcnew List<RaycastHit>();
+
+    // Get the collider's position
+    Vector3 shapePos = Vector3::Zero;
+    Collider^ managedCollider = object.GetComponent<Collider^>();
+    if (!managedCollider)
+      throw gcnew System::InvalidOperationException("Attempted to retrieve invalid Collider."); 
+
+    CollisionShape^ managedShape = managedCollider->GetCollisionShape(shapeIndex);
+    if (!managedShape)
+      throw gcnew System::InvalidOperationException("Attempted to retrieve invalid CollisionShape."); 
+
+    const auto& NATIVE_SHAPE = managedShape->getNativeCollisionShape();
+    switch (NATIVE_SHAPE.GetType())
+    {
+      case SHCollisionShape::Type::SPHERE:
+      {
+        shapePos = Convert::ToCLI(dynamic_cast<const SHSphereCollisionShape&>(NATIVE_SHAPE).GetCenter());
+        break;
+      }
+      case SHCollisionShape::Type::BOX:
+      {
+        shapePos = Convert::ToCLI(dynamic_cast<const SHBoxCollisionShape&>(NATIVE_SHAPE).GetCenter());
+        break;
+      }
+      default: break;
+    }
+
+    ray.Position += shapePos;
+
+    SHCollisionSpace::RaycastInfo raycastInfo;
+    raycastInfo.ray         = Convert::ToNative(ray);
+    raycastInfo.continuous  = continuous;
+    raycastInfo.SetColliderID(object.EntityId);
+
+    const auto& NATIVE_RESULTS = SHPhysicsSystemInterface::Raycast(raycastInfo);
+    if (!NATIVE_RESULTS.empty())
+    {
+      for (const auto& nativeResult : NATIVE_RESULTS)
+        results->Add(Convert::ToCLI(nativeResult));
+    }
+
+    return results;
   }
 
-  RaycastHit Physics::ColliderRaycast(GameObject object, int shapeIndex, Ray ray, float distance)
+  List<RaycastHit>^ Physics::ColliderRaycast(GameObject object, int shapeIndex, Ray ray, float distance, bool continuous)
   {
-    return RaycastHit{};
+    List<RaycastHit>^ results = gcnew List<RaycastHit>();
+
+    // Get the collider's position
+    Vector3 shapePos = Vector3::Zero;
+    Collider^ managedCollider = object.GetComponent<Collider^>();
+    if (!managedCollider)
+      throw gcnew System::InvalidOperationException("Attempted to retrieve invalid Collider."); 
+
+    CollisionShape^ managedShape = managedCollider->GetCollisionShape(shapeIndex);
+    if (!managedShape)
+      throw gcnew System::InvalidOperationException("Attempted to retrieve invalid CollisionShape."); 
+
+    const auto& NATIVE_SHAPE = managedShape->getNativeCollisionShape();
+    switch (NATIVE_SHAPE.GetType())
+    {
+      case SHCollisionShape::Type::SPHERE:
+      {
+        shapePos = Convert::ToCLI(dynamic_cast<const SHSphereCollisionShape&>(NATIVE_SHAPE).GetCenter());
+        break;
+      }
+      case SHCollisionShape::Type::BOX:
+      {
+        shapePos = Convert::ToCLI(dynamic_cast<const SHBoxCollisionShape&>(NATIVE_SHAPE).GetCenter());
+        break;
+      }
+      default: break;
+    }
+
+    ray.Position += shapePos;
+
+    SHCollisionSpace::RaycastInfo raycastInfo;
+    raycastInfo.ray         = Convert::ToNative(ray);
+    raycastInfo.continuous  = continuous;
+    raycastInfo.distance    = distance;
+    raycastInfo.SetColliderID(object.EntityId);
+
+    const auto& NATIVE_RESULTS = SHPhysicsSystemInterface::Raycast(raycastInfo);
+    if (!NATIVE_RESULTS.empty())
+    {
+      for (const auto& nativeResult : NATIVE_RESULTS)
+        results->Add(Convert::ToCLI(nativeResult));
+    }
+
+    return results;
   }
 
-  RaycastHit Physics::ColliderLineCast(GameObject object, Vector3 start, Vector3 end)
+  List<RaycastHit>^ Physics::ColliderLineCast(GameObject object, Vector3 start, Vector3 end, bool continuous)
   {
-    return RaycastHit{};
+    List<RaycastHit>^ results = gcnew List<RaycastHit>();
+
+    // Get the collider's position (same as the transform)
+    Transform^ managedTransform = object.GetComponent<Transform^>();
+    if (!managedTransform)
+      throw gcnew System::InvalidOperationException("Attempted to retrieve invalid Transform."); 
+
+    const Vector3 COLLIDER_POS = managedTransform->GlobalPosition;
+    start += COLLIDER_POS;
+
+    Vector3 direction = end - start;
+    direction.Normalise();
+    const Ray CLI_RAY( start, direction );
+
+    SHCollisionSpace::RaycastInfo raycastInfo;
+    raycastInfo.ray         = Convert::ToNative(CLI_RAY);
+    raycastInfo.distance    = (end - start).GetMagnitude();
+    raycastInfo.continuous  = continuous;
+    raycastInfo.SetColliderID(object.EntityId);
+
+    const auto& NATIVE_RESULTS = SHPhysicsSystemInterface::Raycast(raycastInfo);
+    if (!NATIVE_RESULTS.empty())
+    {
+      for (const auto& nativeResult : NATIVE_RESULTS)
+        results->Add(Convert::ToCLI(nativeResult));
+    }
+
+    return results;
   }
 
-  RaycastHit Physics::ColliderLineCast(GameObject object, int shapeIndex, Vector3 start, Vector3 end)
+  List<RaycastHit>^ Physics::ColliderLineCast(GameObject object, int shapeIndex, Vector3 start, Vector3 end, bool continuous)
   {
-    return RaycastHit{};
+    List<RaycastHit>^ results = gcnew List<RaycastHit>();
+
+    // Get the collider's position
+    Vector3 shapePos = Vector3::Zero;
+    Collider^ managedCollider = object.GetComponent<Collider^>();
+    if (!managedCollider)
+      throw gcnew System::InvalidOperationException("Attempted to retrieve invalid Collider."); 
+
+    CollisionShape^ managedShape = managedCollider->GetCollisionShape(shapeIndex);
+    if (!managedShape)
+      throw gcnew System::InvalidOperationException("Attempted to retrieve invalid CollisionShape."); 
+
+    const auto& NATIVE_SHAPE = managedShape->getNativeCollisionShape();
+    switch (NATIVE_SHAPE.GetType())
+    {
+      case SHCollisionShape::Type::SPHERE:
+      {
+        shapePos = Convert::ToCLI(dynamic_cast<const SHSphereCollisionShape&>(NATIVE_SHAPE).GetCenter());
+        break;
+      }
+      case SHCollisionShape::Type::BOX:
+      {
+        shapePos = Convert::ToCLI(dynamic_cast<const SHBoxCollisionShape&>(NATIVE_SHAPE).GetCenter());
+        break;
+      }
+      default: break;
+    }
+
+    start += shapePos;
+
+    Vector3 direction = end - start;
+    direction.Normalise();
+    const Ray CLI_RAY( start, direction );
+
+    SHCollisionSpace::RaycastInfo raycastInfo;
+    raycastInfo.ray         = Convert::ToNative(CLI_RAY);
+    raycastInfo.continuous  = continuous;
+    raycastInfo.distance    = (end - start).GetMagnitude();
+    raycastInfo.SetColliderID(object.EntityId);
+
+    const auto& NATIVE_RESULTS = SHPhysicsSystemInterface::Raycast(raycastInfo);
+    if (!NATIVE_RESULTS.empty())
+    {
+      for (const auto& nativeResult : NATIVE_RESULTS)
+        results->Add(Convert::ToCLI(nativeResult));
+    }
+
+    return results;
   }
 
   /*-----------------------------------------------------------------------------------*/

SHADE_Managed/src/Physics/Physics.hxx

@@ -10,6 +10,7 @@
 
 #pragma once
 
+
 // Project Includes
 #include "Math/Ray.hxx"
 #include "RaycastHit.hxx"
@@ -39,83 +40,146 @@ namespace SHADE
     /* Raycast Function Members                                                        */
     /*---------------------------------------------------------------------------------*/
 
+    // TODO(Diren): Add layers for raycasting
+
     /// <summary>
-    /// Casts an infinite ray into the world.
+    /// Casts an infinite ray into the world. <br/>
+    /// This raycast will stop at the first object hit.
     /// </summary>
     /// <param name="ray">The ray to cast.</param>
-    /// <returns>The result of the raycast.</returns>
+    /// <param name="continuous">
-    static RaycastHit Raycast (Ray ray);
+    /// Whether or not the raycast should stop at the first object hit.
+    /// </param>
+    /// <returns>
+    /// The results of the raycast. If nothing was hit, an empty list is returned.
+    /// </returns>
+    static System::Collections::Generic::List<RaycastHit>^ Raycast (Ray ray, bool continuous);
 
     /// <summary>
     /// Casts a ray for a given distance into the world.
     /// </summary>
     /// <param name="ray">The ray to cast.</param>
     /// <param name="distance">The distance to cast the ray.</param>
-    /// <returns>The result of the raycast.</returns>
+    /// <param name="continuous">
-    static RaycastHit Raycast (Ray ray, float distance);
+    /// Whether or not the raycast should stop at the first object hit.
+    /// </param>
+    /// <returns>
+    /// The results of the raycast. If nothing was hit, an empty list is returned.
+    /// </returns>
+    static System::Collections::Generic::List<RaycastHit>^ Raycast (Ray ray, float distance, bool continuous);
 
     /// <summary>
     /// Casts a bounded ray into the world.
     /// </summary>
     /// <param name="start">The start of the bounded ray.</param>
     /// <param name="end">The end of the bounded ray.</param>
-    /// <returns>The result of the raycast.</returns>
+    /// <param name="continuous">
-    static RaycastHit Linecast (Vector3 start, Vector3 end);
+    /// Whether or not the raycast should stop at the first object hit.
+    /// </param>
+    /// <returns>
+    /// The results of the raycast. If nothing was hit, an empty list is returned.
+    /// </returns>
+    static System::Collections::Generic::List<RaycastHit>^ Linecast (Vector3 start, Vector3 end, bool continuous);
 
     /// <summary>
     /// Casts an infinite ray w.r.t a GameObject.
     /// </summary>
     /// <param name="object">The GameObject to cast the ray to.</param>
-    /// <param name="ray">The ray to cast.</param>
+    /// <param name="ray">
-    /// <returns>The result of the raycast.</returns>
+    /// The ray to cast. <br/>
-    static RaycastHit ColliderRaycast (GameObject object, Ray ray);
+    /// The position of the ray is offset from the collider's position.
+    /// </param>
+    /// <param name="continuous">
+    /// Whether or not the raycast should stop at the first object hit.
+    /// </param>
+    /// <returns>
+    /// The results of the raycast. If nothing was hit, an empty list is returned.
+    /// </returns>
+    static System::Collections::Generic::List<RaycastHit>^ ColliderRaycast (GameObject object, Ray ray, bool continuous);
 
     /// <summary>
     /// Casts a ray for a given distance w.r.t a GameObject.
     /// </summary>
     /// <param name="object">The GameObject to cast the ray to.</param>
-    /// <param name="ray">The ray to cast.</param>
+    /// <param name="ray">
+    /// The ray to cast. <br/>
+    /// The position of the ray is offset from the collider's position.
+    /// </param>
     /// <param name="distance">The distance to cast the ray.</param>
-    /// <returns>The result of the raycast.</returns>
+    /// <param name="continuous">
-    static RaycastHit ColliderRaycast (GameObject object, Ray ray, float distance);
+    /// Whether or not the raycast should stop at the first object hit.
+    /// </param>
+    /// <returns>
+    /// The results of the raycast. If nothing was hit, an empty list is returned.
+    /// </returns>
+    static System::Collections::Generic::List<RaycastHit>^ ColliderRaycast (GameObject object, Ray ray, float distance, bool continuous);
 
     /// <summary>
     /// Casts an infinite ray w.r.t a specific collider on a GameObject.
     /// </summary>
     /// <param name="object">The GameObject to cast the ray to.</param>
     /// <param name="shapeIndex">The collision shape index on the collider to cast to.</param>
-    /// <param name="ray">The ray to cast.</param>
+    /// <param name="ray">
-    /// <returns>The result of the raycast.</returns>
+    /// The ray to cast. <br/>
-    static RaycastHit ColliderRaycast (GameObject object, int shapeIndex, Ray ray);
+    /// The position of the ray is offset from the collider's position.
+    /// </param>
+    /// <param name="continuous">
+    /// Whether or not the raycast should stop at the first object hit.
+    /// </param>
+    /// <returns>
+    /// The results of the raycast. If nothing was hit, an empty list is returned.
+    /// </returns>
+    static System::Collections::Generic::List<RaycastHit>^ ColliderRaycast (GameObject object, int shapeIndex, Ray ray, bool continuous);
 
     /// <summary>
     /// Casts a ray for a given distance w.r.t a specific collider on a GameObject.
     /// </summary>
     /// <param name="object">The GameObject to cast the ray to.</param>
     /// <param name="shapeIndex">The collision shape index on the collider to cast to.</param>
-    /// <param name="ray">The ray to cast.</param>
+    /// <param name="ray">
+    /// The ray to cast. <br/>
+    /// The position of the ray is offset from the collider's position.
+    /// </param>
     /// <param name="distance">The distance to cast the ray.</param>
-    /// <returns>The result of the raycast.</returns>
+    /// <param name="continuous">
-    static RaycastHit ColliderRaycast (GameObject object, int shapeIndex, Ray ray, float distance);
+    /// Whether or not the raycast should stop at the first object hit.
+    /// </param>
+    /// <returns>
+    /// The results of the raycast. If nothing was hit, an empty list is returned.
+    /// </returns>
+    static System::Collections::Generic::List<RaycastHit>^ ColliderRaycast (GameObject object, int shapeIndex, Ray ray, float distance, bool continuous);
 
     /// <summary>
     /// Casts a bounded ray w.r.t a GameObject.
     /// </summary>
     /// <param name="object">The GameObject to cast the ray to.</param>
-    /// <param name="start">The start of the bounded ray.</param>
+    /// <param name="start">
+    /// The start of the bounded ray. <br/>
+    /// The start of the ray is offset from the collider's position. </param>
     /// <param name="end"></param>
-    /// <returns>The result of the raycast.</returns>
+    /// <param name="continuous">
-    static RaycastHit ColliderLineCast (GameObject object, Vector3 start, Vector3 end);
+    /// Whether or not the raycast should stop at the first object hit.
+    /// </param>
+    /// <returns>
+    /// The results of the raycast. If nothing was hit, an empty list is returned.
+    /// </returns>
+    static System::Collections::Generic::List<RaycastHit>^ ColliderLineCast (GameObject object, Vector3 start, Vector3 end, bool continuous);
 
     /// <summary>
     /// Casts a bounded ray w.r.t a specific collider on a GameObject.
     /// </summary>
     /// <param name="object">The GameObject to cast the ray to.</param>
     /// <param name="shapeIndex">The collision shape index on the collider to cast to.</param>
-    /// <param name="start">The start of the bounded ray.</param>
+    /// <param name="start">
+    /// The start of the bounded ray. <br/>
+    /// The start of the ray is offset from the collider's position. </param>
     /// <param name="end">The end of the bounded ray.</param>
-    /// <returns>The result of the raycast.</returns>
+    /// <param name="continuous">
-    static RaycastHit ColliderLineCast (GameObject object, int shapeIndex, Vector3 start, Vector3 end);
+    /// Whether or not the raycast should stop at the first object hit.
+    /// </param>
+    /// <returns>
+    /// The results of the raycast. If nothing was hit, an empty list is returned./// </returns>
+    static System::Collections::Generic::List<RaycastHit>^ ColliderLineCast (GameObject object, int shapeIndex, Vector3 start, Vector3 end, bool continuous);
 
   private:
     /*---------------------------------------------------------------------------------*/

SHADE_Managed/src/Utility/Convert.cxx

@@ -103,6 +103,39 @@ namespace SHADE
     /* Physics Conversions                                                             */
     /*---------------------------------------------------------------------------------*/
 
+    SHPhysicsRaycastResult Convert::ToNative(RaycastHit cli)
+    {
+      // This function shouldn't be used anyway, so we leave the entityHit empty.
+
+      SHPhysicsRaycastResult native;
+
+      native.hit              = cli.Hit;
+      native.position         = ToNative(cli.Position);
+      native.normal           = ToNative(cli.Normal);
+      native.distance         = cli.Distance;
+      native.shapeIndex       = cli.CollisionShapeIndex;
+
+      return native;
+    }
+
+    RaycastHit Convert::ToCLI(const SHPhysicsRaycastResult& native)
+    {
+      RaycastHit cli;
+
+      cli.Hit                 = native.hit;
+      cli.Position            = ToCLI(native.position);
+      cli.Normal              = ToCLI(native.normal);
+      cli.Distance            = native.distance;
+      cli.CollisionShapeIndex = native.shapeIndex;
+
+      cli.Other = SHEntityManager::IsValidEID(native.entityHit)
+                ? GameObject(native.entityHit)
+                : System::Nullable<GameObject>();
+
+      return cli;
+    }
+
+
     /*---------------------------------------------------------------------------------*/
     /* Handle Conversions                                                              */
     /*---------------------------------------------------------------------------------*/

SHADE_Managed/src/Utility/Convert.hxx

@@ -141,6 +141,20 @@ namespace SHADE
         /* Physics Conversions                                                         */
         /*-----------------------------------------------------------------------------*/
 
+        /// <summary>
+        /// Converts from a managed RaycastHit to a native SHPhysicsRaycastResult
+        /// </summary>
+        /// <param name="cli">The managed RaycastHit to convert from.</param>
+        /// <returns>Native copy of a managed RaycastHit.</returns>
+        static SHPhysicsRaycastResult ToNative(RaycastHit cli);
+
+        /// <summary>
+        /// Converts from a native SHPhysicsRaycastResult to a managed RaycastHit
+        /// </summary>
+        /// <param name="cli">The native SHPhysicsRaycastResult to convert from.</param>
+        /// <returns>Managed copy of a native SHPhysicsRaycastResult.</returns>
+        static RaycastHit ToCLI(const SHPhysicsRaycastResult& native);
+
         /*-----------------------------------------------------------------------------*/
         /* Handle Conversions                                                          */
         /*-----------------------------------------------------------------------------*/