The final code then turns out to be the following:

public static bool RayCast(Ray ray, Polygon polygon, float tmax, out float t, out Vector2 pt, out Vector2 normal) { t = float.MaxValue; pt = ray.Origin; normal = ray.Direction; // temp holder for segment distance float distance; int crossings = 0; for (int j = polygon.NumVertices - 1, i = 0; i < polygon.NumVertices; j = i, i++) { if (RayIntersectsSegment(ray, polygon.v[j], polygon.v[i], float.MaxValue, out distance)) { crossings++; if (distance < t && distance <= tmax) { t = distance; pt = ray.GetPoint(t); Vector2 edge = polygon.v[j] - polygon.v[i]; normal = Vector2.Normalize(RightPerp(edge)); // no reflection here } } } return crossings > 0 && crossings % 2 == 0; }

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