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This is a paid asset, but now you can download Super Raycast for FREE, Please keep in mind this package is provided only for learning purposes or to be able to test before buying the product, NOT FOR COMMERCIAL PURPOSES.
Super Raycast v1.4
Super Raycast gives you high quality raycasting against Renderers including animated SkinnedMeshRenderers without the need for colliders, collision meshes, or other setup.
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Just call SuperRaycast.Raycast().
Use bump maps to get higher quality normals, and height maps to get higher quality hit points.