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I made a mantling mode for MWSE lua and I want to port it to OpenMW if possible. In its core, it basically uses raycasting to determine ledges.

...
local rayhit = rayTest{
            position = rayPosition + forward * (CLIMB_MIN_DISTANCE),
            direction = DOWN,
            ignore = {tes3.player},
        }

which looks like this.

Full code here.