BEPUphysics

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        public static RayResult terrainray(Ray r, RayCastableContainerWithoutMargins terrain)
        {
            RayResult result = RayResult.Zero;
            terrain.rayCast(r.Position, r.Direction, 10000, 
                out result.hitEntity, out result.CollisionPos, 
                out result.normal, out result.time);

            //CONVERT NORMAL TO DECAL MATRIX
            result.CollisionMatrix = Matrix.Invert(Matrix.CreateLookAt(
                Vector3.Zero, result.normal, 
                new Vector3(1,0.9f,1))) 
                * Matrix.CreateTranslation(result.CollisionPos);

            return result;
        }