Test if a collider can be seen from a point

I know that physics.raycast can be used to detect if a collider is in between two points, but i was wandering how to test if a point can see ANY part of a collider

This would be much better because a plain raycast would not hit the target collider with even the smallest collider in between the center points. For example, an npc wouldnt be able to see another object ten times its size just because of a small rock in between.

 

I created a thread long time ago exactly about this. Maybe it could help you

https://forum.unity.com/threads/check-if-a-collider-is-visible-from-a-position.424760/#post-2754912

 

Thanks this looks really useful!