Code:

bool BphysicsManager::rayHasHit(glm::vec3& rayFromWorld, glm::vec3& rayToWorld, btVector3* hitPointWorld, btRigidBody** body){mMutex->lock();bool ret;rayFrom.setX(rayFromWorld.x);rayFrom.setY(rayFromWorld.y);rayFrom.setZ(rayFromWorld.z);rayTo.setX(rayToWorld.x);rayTo.setY(rayToWorld.y);rayTo.setZ(rayToWorld.z);btCollisionWorld::ClosestRayResultCallback rayCallback(rayFrom, rayTo);mpDynamicsWorld->rayTest(rayFrom, rayTo, rayCallback);if (rayCallback.m_collisionObject){*body = (btRigidBody*)btRigidBody::upcast(rayCallback.m_collisionObject);*hitPointWorld = rayCallback.m_hitPointWorld;auto colShape = (*body)->getCollisionShape();if (dynamic_cast<btConcaveShape*>(colShape) != nullptr){*body = nullptr;}}ret = rayCallback.hasHit();mMutex->unlock();return ret;}