fix bug with ray distance scaling (#2022)

Author: aclegg3

src/esp/physics/bullet/BulletPhysicsManager.cpp

@@ -491,8 +491,7 @@ RaycastResults BulletPhysicsManager::castRay(const esp::geo::Ray& ray,
     hit.normal = Magnum::Vector3{allResults.m_hitNormalWorld[i]};
     hit.point = Magnum::Vector3{allResults.m_hitPointWorld[i]};
     hit.rayDistance =
-        (static_cast<double>(allResults.m_hitFractions[i]) * maxDistance) /
-        rayLength;
+        (static_cast<double>(allResults.m_hitFractions[i]) * maxDistance);
     // default to -1 for "scene collision" if we don't know which object was
     // involved
     hit.objectId = -1;

tests/test_physics.py

@@ -568,6 +568,20 @@ def test_raycast():
             sim.set_stage_is_collidable(False)
             raycast_results = sim.cast_ray(test_ray_1)
             assert not raycast_results.has_hits()
+            sim.set_stage_is_collidable(True)
+
+            # test non-unit ray direction
+            test_ray_1.direction = mn.Vector3(0.5, 0, 0)
+            raycast_results = sim.cast_ray(test_ray_1)
+            assert raycast_results.has_hits()
+            assert len(raycast_results.hits) == 3
+            assert (
+                raycast_results.hits[0].point
+                - (
+                    test_ray_1.origin
+                    + test_ray_1.direction * raycast_results.hits[0].ray_distance
+                )
+            ).length() < 0.001
 
 
 @pytest.mark.skipif(