Advanced Raycasting for Weapon Systems and Interaction

Act as a Combat Systems Programmer. Master and implement high-speed Raycasting directly within the R3F Rapier physics world. Write the exact script required to execute instant, hit-scan raycasts that strictly respect complex bitmask [COLLISION_GROUPS], allowing a projectile to hit enemy bodies while completely ignoring invisible triggers or friendly units. Implement advanced [PENETRATION_LOGIC] (`castRayAndGetIntersections`) designed to mathematically detect and array multiple distinct impacts along a single [RAY_DISTANCE] vector (e.g., a sniper bullet piercing through multiple walls). Provide a deeply technical discussion highlighting the massive CPU performance advantages of utilizing the physics engine's native BVH raycast methods over the standard, highly expensive `THREE.Raycaster` for fast-moving projectiles.