Function ncollide3d::query::ray_internal::implicit_toi_and_normal_with_ray

pub fn implicit_toi_and_normal_with_ray<N, G: ?Sized>(
    m: &Isometry<N>, 
    shape: &G, 
    simplex: &mut VoronoiSimplex<N>, 
    ray: &Ray<N>, 
    solid: bool
) -> Option<RayIntersection<N>> where
    N: Real,
    G: SupportMap<N>, 

Cast a ray on a shape using the GJK algorithm.