Möller–Trumbore_intersection_algorithm with fixedpoint

Möller–Trumbore_intersection_algorithm

//https://en.wikipedia.org/wiki/M%C3%B6ller%E2%80%93Trumbore_intersection_algorithm
        private bool RayIntersectsTriangle(ISupportMappable support, ref TSMatrix orientation, ref TSMatrix invOrientation,
            ref TSVector position, ref TSVector origin, ref TSVector direction, out FP fraction, out TSVector normal)
        {
            FP EPSILON = FP.EN8;
            fraction = FP.Zero;
            normal = TSVector.zero;

            TriangleMeshShape inTriangle = support as TriangleMeshShape;
            TSVector[] vertices = inTriangle.Vertices;

            TSVector vertex0 = vertices[0];
            TSVector vertex1 = vertices[1];
            TSVector vertex2 = vertices[2];

            TSVector edge1, edge2, h, s, q;
            FP a, f, u, v;
            edge1 = inTriangle.edge1;
            edge2 = inTriangle.edge2;
            h = TSVector.Cross(direction, edge2);
            a = TSVector.Dot(edge1, h);
            if (a > -EPSILON && a < EPSILON)
                return false;
            f = 1 / a;
            s = origin - vertex0;
            u = f * (TSVector.Dot(s, h));
            if (u < FP.Zero || u > FP.One)
                return false;
            q = TSVector.Cross(s, edge1);
            v = f * TSVector.Dot(direction, q);
            if (v < FP.Zero || u + v > FP.One)
                return false;
            // At this stage we can compute t to find out where the intersection point is on the line.
            fraction = f * TSVector.Dot(edge2, q);
            if (fraction > EPSILON) // ray intersection
            {
                return true;
            }
            else // This means that there is a line intersection but not a ray intersection.
                return false;
        }