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Pertaining to point 3 from above posting.
Notice that in the left image, some of the rays cast from the "robot" I have in Vizard (shown as a rectangle) go through the wall (white line in grey space). I believe this is a bug in viz.phys.intersectLine()
When I use viz.intersect() instead of viz.phys.intersectLine(), all rays properly intersect the wall (right image).
(These details don't show up well in the thumbnails, but do in the fuill size images.
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