Function b3Shape_RayCast 

pub unsafe extern "C" fn b3Shape_RayCast(
    shapeId: b3ShapeId,
    origin: b3Pos,
    translation: b3Vec3,
) -> b3WorldCastOutput

Ray cast a shape directly. The ray runs from origin to origin + translation and the hit point comes back as a world position, so the cast stays precise far from the world origin.