one more for the gipper

1 files changed, 32 insertions, 0 deletions

diff --git a/libraries/ode-0.9/contrib/dRay/dxRay.h b/libraries/ode-0.9/contrib/dRay/dxRay.h
new file mode 100644
index 0000000..0fd1d2d
--- /dev/null
+++ b/libraries/ode-0.9/contrib/dRay/dxRay.h
@@ -0,0 +1,32 @@
+struct dxRay{
+        dReal Length;
+};
+
+inline void Decompose(const dMatrix3 Matrix, dVector3 Right, dVector3 Up, dVector3 Direction){
+        Right[0] = Matrix[0 * 4 + 0];
+        Right[1] = Matrix[1 * 4 + 0];
+        Right[2] = Matrix[2 * 4 + 0];
+        Right[3] = Matrix[3 * 4 + 0];
+        Up[0] = Matrix[0 * 4 + 1];
+        Up[1] = Matrix[1 * 4 + 1];
+        Up[2] = Matrix[2 * 4 + 1];
+        Up[3] = Matrix[3 * 4 + 1];
+        Direction[0] = Matrix[0 * 4 + 2];
+        Direction[1] = Matrix[1 * 4 + 2];
+        Direction[2] = Matrix[2 * 4 + 2];
+        Direction[3] = Matrix[3 * 4 + 2];
+}
+
+inline void Decompose(const dMatrix3 Matrix, dVector3 Vectors[3]){
+        Decompose(Matrix, Vectors[0], Vectors[1], Vectors[2]);
+}
+
+inline dContactGeom* CONTACT(int Flags, dContactGeom* Contacts, int Index, int Stride){
+        dIASSERT(Index >= 0 && Index < (Flags & 0x0ffff));
+        return ((dContactGeom*)(((char*)Contacts) + (Index * Stride)));
+}
+
+int dCollidePR(dxGeom* RayGeom, dxGeom* PlaneGeom, int Flags, dContactGeom* Contacts, int Stride);
+int dCollideSR(dxGeom* RayGeom, dxGeom* SphereGeom, int Flags, dContactGeom* Contacts, int Stride);
+int dCollideBR(dxGeom* RayGeom, dxGeom* BoxGeom, int Flags, dContactGeom* Contacts, int Stride);
+int dCollideCCR(dxGeom* RayGeom, dxGeom* CCylinderGeom, int Flags, dContactGeom* Contacts, int Stride);
\ No newline at end of file