adding ode source to /libraries

9 files changed, 2017 insertions, 0 deletions

diff --git a/libraries/ode-0.9\/contrib/dRay/Include/dRay.h b/libraries/ode-0.9\/contrib/dRay/Include/dRay.h
new file mode 100755
index 0000000..f6caea8
--- /dev/null
+++ b/libraries/ode-0.9\/contrib/dRay/Include/dRay.h
@@ -0,0 +1,15 @@
+#include "ode\ode.h"
+
+/* Class ID */
+extern int dRayClass;
+
+/* Creates a ray */
+dxGeom* dGeomCreateRay(dSpaceID space, dReal Length);
+
+/* Set/Get length */
+void dGeomRaySetLength(dxGeom* g, dReal Length);
+dReal dGeomRayGetLength(dxGeom* g);
+
+/* Utility function to override the ray's pos + rot */
+void dGeomRaySet(dxGeom* g, dVector3 Origin, dVector3 Direction);
+void dGeomRayGet(dxGeom* g, dVector3 Origin, dVector3 Direction);
diff --git a/libraries/ode-0.9\/contrib/dRay/README.txt b/libraries/ode-0.9\/contrib/dRay/README.txt
new file mode 100755
index 0000000..8997208
--- /dev/null
+++ b/libraries/ode-0.9\/contrib/dRay/README.txt
@@ -0,0 +1,16 @@
+From: "Erwin de Vries" <erwin@vo.com>
+To: <ode@q12.org>
+Subject: [ODE] dRay class
+Date: Thu, 25 Jul 2002 13:05:28 +0200
+
+Yesterday and today i've written a dRay class. It interacts with dPlane,
+dSphere, dBox and dCCylinder. It does not generate full contact information.
+It only generates the pos member. I dont think its useful to anyone to go
+through hoops and find a reasonable normal and penetration depth, as i dont
+think anyone will want to use it for dynamics. Just for CD.
+
+It should compile in single and double precision mode, and should be
+platform independant. I hope.
+
+The next Tri-Collider release using Opcode 1.1 will also implement a ray
+collision function along with some other not too interesting improvements.
diff --git a/libraries/ode-0.9\/contrib/dRay/Test/test_ray.cpp b/libraries/ode-0.9\/contrib/dRay/Test/test_ray.cpp
new file mode 100755
index 0000000..faa8b14
--- /dev/null
+++ b/libraries/ode-0.9\/contrib/dRay/Test/test_ray.cpp
@@ -0,0 +1,1372 @@
+/*************************************************************************
+
+
+ *                                                                       *
+
+
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+
+
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+
+
+ *                                                                       *
+
+
+ * This library is free software; you can redistribute it and/or         *
+
+
+ * modify it under the terms of EITHER:                                  *
+
+
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+
+
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+
+
+ *       your option) any later version. The text of the GNU Lesser      *
+
+
+ *       General Public License is included with this library in the     *
+
+
+ *       file LICENSE.TXT.                                               *
+
+
+ *   (2) The BSD-style license that is included with this library in     *
+
+
+ *       the file LICENSE-BSD.TXT.                                       *
+
+
+ *                                                                       *
+
+
+ * This library is distributed in the hope that it will be useful,       *
+
+
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+
+
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+
+
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+
+
+ *                                                                       *
+
+
+ *************************************************************************/
+
+
+
+
+
+#include <ode/ode.h>
+
+
+#include <dRay.h>
+
+
+#include <drawstuff/drawstuff.h>
+
+
+
+
+
+#ifdef _MSC_VER
+
+
+#pragma warning(disable:4244 4305)  // for VC++, no precision loss complaints
+
+
+#endif
+
+
+
+
+
+// select correct drawing functions
+
+
+
+
+
+#ifdef dDOUBLE
+
+
+#define dsDrawBox dsDrawBoxD
+
+
+#define dsDrawSphere dsDrawSphereD
+
+
+#define dsDrawCylinder dsDrawCylinderD
+
+
+#define dsDrawCappedCylinder dsDrawCappedCylinderD
+
+
+#endif
+
+
+
+
+
+
+
+
+// some constants
+
+
+
+
+
+#define NUM 20                  // max number of objects
+
+
+#define DENSITY (5.0)           // density of all objects
+
+
+#define GPB 3                   // maximum number of geometries per body
+
+
+
+
+
+
+
+
+// dynamics and collision objects
+
+
+
+
+
+struct MyObject {
+
+
+  dBodyID body;                 // the body
+
+
+  dGeomID geom[GPB];            // geometries representing this body
+
+
+};
+
+
+
+
+
+static int num=0;               // number of objects in simulation
+
+
+static int nextobj=0;           // next object to recycle if num==NUM
+
+
+static dWorldID world;
+
+
+static dSpaceID space;
+
+
+static MyObject obj[NUM];
+
+
+static dJointGroupID contactgroup;
+
+
+static int selected = -1;       // selected object
+
+
+
+
+
+static dGeomID* Rays;
+
+
+static int RayCount;
+
+
+
+
+
+// this is called by dSpaceCollide when two objects in space are
+
+
+// potentially colliding.
+
+
+
+
+
+static void nearCallback (void *data, dGeomID o1, dGeomID o2)
+
+
+{
+
+
+  int i;
+
+
+  // if (o1->body && o2->body) return;
+
+
+
+
+
+  // exit without doing anything if the two bodies are connected by a joint
+
+
+  dBodyID b1 = dGeomGetBody(o1);
+
+
+  dBodyID b2 = dGeomGetBody(o2);
+
+
+  if (b1 && b2 && dAreConnected (b1,b2)) return;
+
+
+
+
+
+  dContact contact[32];                 // up to 3 contacts per box
+
+
+  for (i=0; i<32; i++) {
+
+
+    contact[i].surface.mode = dContactBounce; //dContactMu2;
+
+
+    contact[i].surface.mu = dInfinity;
+
+
+    contact[i].surface.mu2 = 0;
+
+
+    contact[i].surface.bounce = 0.5;
+
+
+    contact[i].surface.bounce_vel = 0.1;
+
+
+  }
+
+
+  if (int numc = dCollide (o1,o2,3,&contact[0].geom,sizeof(dContact))) {
+
+
+     dMatrix3 RI;
+
+
+     dRSetIdentity (RI);
+
+
+     const dReal ss[3] = {0.02,0.02,0.02};
+
+
+    for (i=0; i<numc; i++) {
+
+
+                if (dGeomGetClass(o1) == dRayClass || dGeomGetClass(o2) == dRayClass){
+
+
+                        dMatrix3 Rotation;
+
+
+                        dRSetIdentity(Rotation);
+
+
+                        dsDrawSphere(contact[i].geom.pos, Rotation, REAL(0.01));
+
+
+                        continue;
+
+
+                }
+
+
+
+
+
+      dJointID c = dJointCreateContact (world,contactgroup,contact+i);
+
+
+      dJointAttach (c,b1,b2);
+
+
+       //dsDrawBox (contact[i].geom.pos,RI,ss);
+
+
+
+
+
+          
+
+
+    }
+
+
+  }
+
+
+}
+
+
+
+
+
+// start simulation - set viewpoint
+
+
+
+
+
+static void start()
+
+
+{
+
+
+  static float xyz[3] = {2.1640f,-1.3079f,1.7600f};
+
+
+  static float hpr[3] = {125.5000f,-17.0000f,0.0000f};
+
+
+  dsSetViewpoint (xyz,hpr);
+
+
+  printf ("To drop another object, press:\n");
+
+
+  printf ("   b for box.\n");
+
+
+  printf ("   s for sphere.\n");
+
+
+  printf ("   c for cylinder.\n");
+
+
+  printf ("   x for a composite object.\n");
+
+
+  printf ("To select an object, press space.\n");
+
+
+  printf ("To disable the selected object, press d.\n");
+
+
+  printf ("To enable the selected object, press e.\n");
+
+
+}
+
+
+
+
+
+
+
+
+char locase (char c)
+
+
+{
+
+
+  if (c >= 'A' && c <= 'Z') return c - ('a'-'A');
+
+
+  else return c;
+
+
+}
+
+
+
+
+
+
+
+
+// called when a key pressed
+
+
+
+
+
+static void command (int cmd)
+
+
+{
+
+
+  int i,j,k;
+
+
+  dReal sides[3];
+
+
+  dMass m;
+
+
+
+
+
+  cmd = locase (cmd);
+
+
+  if (cmd == 'b' || cmd == 's' || cmd == 'c' || cmd == 'x') {
+
+
+    if (num < NUM) {
+
+
+      i = num;
+
+
+      num++;
+
+
+    }
+
+
+    else {
+
+
+      i = nextobj;
+
+
+      nextobj++;
+
+
+      if (nextobj >= num) nextobj = 0;
+
+
+
+
+
+      // destroy the body and geoms for slot i
+
+
+      dBodyDestroy (obj[i].body);
+
+
+      for (k=0; k < GPB; k++) {
+
+
+        if (obj[i].geom[k]) dGeomDestroy (obj[i].geom[k]);
+
+
+      }
+
+
+      memset (&obj[i],0,sizeof(obj[i]));
+
+
+    }
+
+
+
+
+
+    obj[i].body = dBodyCreate (world);
+
+
+    for (k=0; k<3; k++) sides[k] = dRandReal()*0.5+0.1;
+
+
+
+
+
+    dBodySetPosition (obj[i].body,
+
+
+                      dRandReal()*2-1,dRandReal()*2-1,dRandReal()+1);
+
+
+    dMatrix3 R;
+
+
+    dRFromAxisAndAngle (R,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
+
+
+                        dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
+
+
+    dBodySetRotation (obj[i].body,R);
+
+
+    dBodySetData (obj[i].body,(void*) i);
+
+
+
+
+
+    if (cmd == 'b') {
+
+
+      dMassSetBox (&m,DENSITY,sides[0],sides[1],sides[2]);
+
+
+      obj[i].geom[0] = dCreateBox (space,sides[0],sides[1],sides[2]);
+
+
+    }
+
+
+    else if (cmd == 'c') {
+
+
+      sides[0] *= 0.5;
+
+
+      dMassSetCappedCylinder (&m,DENSITY,3,sides[0],sides[1]);
+
+
+      obj[i].geom[0] = dCreateCCylinder (space,sides[0],sides[1]);
+
+
+    }
+
+
+    else if (cmd == 's') {
+
+
+      sides[0] *= 0.5;
+
+
+      dMassSetSphere (&m,DENSITY,sides[0]);
+
+
+      obj[i].geom[0] = dCreateSphere (space,sides[0]);
+
+
+    }
+
+
+    else if (cmd == 'x') {
+
+
+      dGeomID g2[GPB];          // encapsulated geometries
+
+
+      dReal dpos[GPB][3];       // delta-positions for encapsulated geometries
+
+
+
+
+
+      // start accumulating masses for the encapsulated geometries
+
+
+      dMass m2;
+
+
+      dMassSetZero (&m);
+
+
+
+
+
+      // set random delta positions
+
+
+      for (j=0; j<GPB; j++) {
+
+
+        for (k=0; k<3; k++) dpos[j][k] = dRandReal()*0.3-0.15;
+
+
+      }
+
+
+
+
+
+      for (k=0; k<3; k++) {
+
+
+        obj[i].geom[k] = dCreateGeomTransform (space);
+
+
+        dGeomTransformSetCleanup (obj[i].geom[k],1);
+
+
+        if (k==0) {
+
+
+          dReal radius = dRandReal()*0.25+0.05;
+
+
+          g2[k] = dCreateSphere (0,radius);
+
+
+          dMassSetSphere (&m2,DENSITY,radius);
+
+
+        }
+
+
+        else if (k==1) {
+
+
+          g2[k] = dCreateBox (0,sides[0],sides[1],sides[2]);
+
+
+          dMassSetBox (&m2,DENSITY,sides[0],sides[1],sides[2]);
+
+
+        }
+
+
+        else {
+
+
+          dReal radius = dRandReal()*0.1+0.05;
+
+
+          dReal length = dRandReal()*1.0+0.1;
+
+
+          g2[k] = dCreateCCylinder (0,radius,length);
+
+
+          dMassSetCappedCylinder (&m2,DENSITY,3,radius,length);
+
+
+        }
+
+
+        dGeomTransformSetGeom (obj[i].geom[k],g2[k]);
+
+
+
+
+
+        // set the transformation (adjust the mass too)
+
+
+        dGeomSetPosition (g2[k],dpos[k][0],dpos[k][1],dpos[k][2]);
+
+
+        dMassTranslate (&m2,dpos[k][0],dpos[k][1],dpos[k][2]);
+
+
+        dMatrix3 Rtx;
+
+
+        dRFromAxisAndAngle (Rtx,dRandReal()*2.0-1.0,dRandReal()*2.0-1.0,
+
+
+                            dRandReal()*2.0-1.0,dRandReal()*10.0-5.0);
+
+
+        dGeomSetRotation (g2[k],Rtx);
+
+
+        dMassRotate (&m2,Rtx);
+
+
+
+
+
+        // add to the total mass
+
+
+        dMassAdd (&m,&m2);
+
+
+      }
+
+
+
+
+
+      // move all encapsulated objects so that the center of mass is (0,0,0)
+
+
+      for (k=0; k<2; k++) {
+
+
+        dGeomSetPosition (g2[k],
+
+
+                          dpos[k][0]-m.c[0],
+
+
+                          dpos[k][1]-m.c[1],
+
+
+                          dpos[k][2]-m.c[2]);
+
+
+      }
+
+
+      dMassTranslate (&m,-m.c[0],-m.c[1],-m.c[2]);
+
+
+    }
+
+
+
+
+
+    for (k=0; k < GPB; k++) {
+
+
+      if (obj[i].geom[k]) dGeomSetBody (obj[i].geom[k],obj[i].body);
+
+
+    }
+
+
+
+
+
+    dBodySetMass (obj[i].body,&m);
+
+
+  }
+
+
+
+
+
+  if (cmd == ' ') {
+
+
+    selected++;
+
+
+    if (selected >= num) selected = 0;
+
+
+    if (selected < 0) selected = 0;
+
+
+  }
+
+
+  else if (cmd == 'd' && selected >= 0 && selected < num) {
+
+
+    dBodyDisable (obj[selected].body);
+
+
+  }
+
+
+  else if (cmd == 'e' && selected >= 0 && selected < num) {
+
+
+    dBodyEnable (obj[selected].body);
+
+
+  }
+
+
+}
+
+
+
+
+
+
+
+
+// draw a geom
+
+
+
+
+
+void drawGeom (dGeomID g, const dReal *pos, const dReal *R)
+
+
+{
+
+
+  if (!g) return;
+
+
+  if (!pos) pos = dGeomGetPosition (g);
+
+
+  if (!R) R = dGeomGetRotation (g);
+
+
+
+
+
+  int type = dGeomGetClass (g);
+
+
+  if (type == dBoxClass) {
+
+
+    dVector3 sides;
+
+
+    dGeomBoxGetLengths (g,sides);
+
+
+    dsDrawBox (pos,R,sides);
+
+
+  }
+
+
+  else if (type == dSphereClass) {
+
+
+    dsDrawSphere (pos,R,dGeomSphereGetRadius (g));
+
+
+  }
+
+
+  else if (type == dCCylinderClass) {
+
+
+    dReal radius,length;
+
+
+    dGeomCCylinderGetParams (g,&radius,&length);
+
+
+    dsDrawCappedCylinder (pos,R,length,radius);
+
+
+  }
+
+
+  else if (type == dGeomTransformClass) {
+
+
+    dGeomID g2 = dGeomTransformGetGeom (g);
+
+
+    const dReal *pos2 = dGeomGetPosition (g2);
+
+
+    const dReal *R2 = dGeomGetRotation (g2);
+
+
+    dVector3 actual_pos;
+
+
+    dMatrix3 actual_R;
+
+
+    dMULTIPLY0_331 (actual_pos,R,pos2);
+
+
+    actual_pos[0] += pos[0];
+
+
+    actual_pos[1] += pos[1];
+
+
+    actual_pos[2] += pos[2];
+
+
+    dMULTIPLY0_333 (actual_R,R,R2);
+
+
+    drawGeom (g2,actual_pos,actual_R);
+
+
+  }
+
+
+}
+
+
+
+
+
+
+
+
+// simulation loop
+
+
+
+
+
+static void simLoop (int pause)
+
+
+{
+
+
+  dsSetColor (0,0,2);
+
+
+  dSpaceCollide (space,0,&nearCallback);
+
+
+  if (!pause) dWorldStep (world,0.05);
+
+
+
+
+
+  // remove all contact joints
+
+
+  dJointGroupEmpty (contactgroup);
+
+
+
+
+
+  dsSetColor (1,1,0);
+
+
+  dsSetTexture (DS_WOOD);
+
+
+  for (int i=0; i<num; i++) {
+
+
+    int color_changed = 0;
+
+
+    if (i==selected) {
+
+
+      dsSetColor (0,0.7,1);
+
+
+      color_changed = 1;
+
+
+    }
+
+
+    else if (! dBodyIsEnabled (obj[i].body)) {
+
+
+      dsSetColor (1,0,0);
+
+
+      color_changed = 1;
+
+
+    }
+
+
+    for (int j=0; j < GPB; j++) drawGeom (obj[i].geom[j],0,0);
+
+
+    if (color_changed) dsSetColor (1,1,0);
+
+
+  }
+
+
+
+
+
+  {for (int i = 0; i < RayCount; i++){
+
+
+          dVector3 Origin, Direction;
+
+
+          dGeomRayGet(Rays[i], Origin, Direction);
+
+
+  
+
+
+          dReal Length = dGeomRayGetLength(Rays[i]);
+
+
+
+
+
+          dVector3 End;
+
+
+          End[0] = Origin[0] + (Direction[0] * Length);
+
+
+          End[1] = Origin[1] + (Direction[1] * Length);
+
+
+          End[2] = Origin[2] + (Direction[2] * Length);
+
+
+          End[3] = Origin[3] + (Direction[3] * Length);
+
+
+  
+
+
+          dsDrawLine(Origin, End);
+
+
+  }}
+
+
+}
+
+
+
+
+
+
+
+
+int main (int argc, char **argv)
+
+
+{
+
+
+  // setup pointers to drawstuff callback functions
+
+
+  dsFunctions fn;
+
+
+  fn.version = DS_VERSION;
+
+
+  fn.start = &start;
+
+
+  fn.step = &simLoop;
+
+
+  fn.command = &command;
+
+
+  fn.stop = 0;
+
+
+  fn.path_to_textures = "../../drawstuff/textures";
+
+
+  if(argc==2)
+    {
+        fn.path_to_textures = argv[1];
+    }
+
+
+
+  // create world
+
+
+
+
+
+  world = dWorldCreate();
+
+
+  space = dHashSpaceCreate();
+
+
+  contactgroup = dJointGroupCreate (0);
+
+
+  dWorldSetGravity (world,0,0,-0.5);
+
+
+  dWorldSetCFM (world,1e-5);
+
+
+  dCreatePlane (space,0,0,1,0);
+
+
+  memset (obj,0,sizeof(obj));
+
+
+
+
+
+  dVector3 Origin, Direction;
+
+
+  
+
+
+  RayCount = 5;
+
+
+  Rays = new dGeomID[RayCount];
+
+
+
+
+
+  /* Ray 0 */
+
+
+  Origin[0] = 1;
+
+
+  Origin[1] = 1;
+
+
+  Origin[2] = 1.5;
+
+
+  Origin[3] = 0;
+
+
+
+
+
+  Direction[0] = 0.0f;
+
+
+  Direction[1] = 0.0f;
+
+
+  Direction[2] = -1;
+
+
+  Direction[3] = 0;
+
+
+
+
+
+  dNormalize3(Direction);
+
+
+
+
+
+  Rays[0] = dGeomCreateRay(space, 5.0f);
+
+
+  dGeomRaySet(Rays[0], Origin, Direction);
+
+
+
+
+
+  /* Ray 1 */
+
+
+  Origin[0] = 0;
+
+
+  Origin[1] = 10;
+
+
+  Origin[2] = 0.25;
+
+
+  Origin[3] = 0;
+
+
+
+
+
+  Direction[0] = 0.0f;
+
+
+  Direction[1] = -1.0f;
+
+
+  Direction[2] = 0.0f;
+
+
+  Direction[3] = 0;
+
+
+
+
+
+  dNormalize3(Direction);
+
+
+
+
+
+  Rays[1] = dGeomCreateRay(space, 20.0f);
+
+
+  dGeomRaySet(Rays[1], Origin, Direction);
+
+
+
+
+
+  /* Ray 2 */
+
+
+  Origin[0] = -10;
+
+
+  Origin[1] = 0;
+
+
+  Origin[2] = 0.20;
+
+
+  Origin[3] = 0;
+
+
+
+
+
+  Direction[0] = 1.0f;
+
+
+  Direction[1] = 0.0f;
+
+
+  Direction[2] = 0.0f;
+
+
+  Direction[3] = 0;
+
+
+
+
+
+  dNormalize3(Direction);
+
+
+
+
+
+  Rays[2] = dGeomCreateRay(space, 20.0f);
+
+
+  dGeomRaySet(Rays[2], Origin, Direction);
+
+
+
+
+
+  /* Ray 3 */
+
+
+  Origin[0] = -9;
+
+
+  Origin[1] = 11;
+
+
+  Origin[2] = 0.15;
+
+
+  Origin[3] = 0;
+
+
+
+
+
+  Direction[0] = 1.0f;
+
+
+  Direction[1] = -1.0f;
+
+
+  Direction[2] = 0.0f;
+
+
+  Direction[3] = 0;
+
+
+
+
+
+  dNormalize3(Direction);
+
+
+
+
+
+  Rays[3] = dGeomCreateRay(space, 20.0f);
+
+
+  dGeomRaySet(Rays[3], Origin, Direction);
+
+
+
+
+
+  /* Ray 4 */
+
+
+  Origin[0] = -0.1;
+
+
+  Origin[1] = 0.3;
+
+
+  Origin[2] = 0.30;
+
+
+  Origin[3] = 0;
+
+
+
+
+
+  Direction[0] = 0.3f;
+
+
+  Direction[1] = 0.5f;
+
+
+  Direction[2] = 1.0f;
+
+
+  Direction[3] = 0;
+
+
+
+
+
+  Rays[4] = dGeomCreateRay(space, 5.0f);
+
+
+  dGeomRaySet(Rays[4], Origin, Direction);
+
+
+
+
+
+  // run simulation
+
+
+  dsSimulationLoop (argc,argv,352,288,&fn);
+
+
+
+
+
+  dJointGroupDestroy (contactgroup);
+
+
+  dSpaceDestroy (space);
+
+
+  dWorldDestroy (world);
+
+
+
+
+
+  return 0;
+
+
+}
+
+
diff --git a/libraries/ode-0.9\/contrib/dRay/dRay.cpp b/libraries/ode-0.9\/contrib/dRay/dRay.cpp
new file mode 100755
index 0000000..e3a426e
--- /dev/null
+++ b/libraries/ode-0.9\/contrib/dRay/dRay.cpp
@@ -0,0 +1,119 @@
+#include "Include\dRay.h"
+#include "dxRay.h"
+
+int dRayClass = -1;
+
+void dAABBRay(dxGeom* Ray, dReal AABB[6]){
+        dVector3 Start, End;
+        dGeomRayGet(Ray, Start, End);
+        dReal Length = dGeomRayGetLength(Ray);
+
+        End[0] = Start[0] + End[0] * Length;
+        End[1] = Start[1] + End[1] * Length;
+        End[2] = Start[2] + End[2] * Length;
+        End[3] = Start[3] + End[3] * Length;
+
+        if (Start[0] < End[0]){
+                AABB[0] = Start[0];
+                AABB[1] = End[0];
+        }
+        else{
+                AABB[0] = End[0];
+                AABB[1] = Start[0];
+        }
+
+        if (Start[1] < End[1]){
+                AABB[2] = Start[1];
+                AABB[3] = End[1];
+        }
+        else{
+                AABB[2] = End[1];
+                AABB[3] = Start[1];
+        }
+
+        if (Start[2] < End[2]){
+                AABB[4] = Start[2];
+                AABB[5] = End[2];
+        }
+        else{
+                AABB[4] = End[2];
+                AABB[5] = Start[2];
+        }
+        // Should we tweak the box to have a minimum size for axis aligned lines? How small should it be?
+}
+
+dColliderFn* dRayColliderFn(int num){
+        if (num == dPlaneClass) return (dColliderFn*)&dCollidePR;
+        if (num == dSphereClass) return (dColliderFn*)&dCollideSR;
+        if (num == dBoxClass) return (dColliderFn*)&dCollideBR;
+        if (num == dCCylinderClass) return (dColliderFn*)&dCollideCCR;
+        return 0;
+}
+
+dxGeom* dGeomCreateRay(dSpaceID space, dReal Length){
+        if (dRayClass == -1){
+                dGeomClass c;
+                c.bytes = sizeof(dxRay);
+                c.collider = &dRayColliderFn;
+                c.aabb = &dAABBRay;
+                c.aabb_test = 0;
+                c.dtor = 0;
+
+                dRayClass = dCreateGeomClass(&c);
+        }
+
+        dxGeom* g = dCreateGeom(dRayClass);
+        if (space) dSpaceAdd(space, g);
+
+        dGeomRaySetLength(g, Length);
+        return g;
+}
+
+void dGeomRaySetLength(dxGeom* g, dReal Length){
+        ((dxRay*)dGeomGetClassData(g))->Length = Length;
+}
+
+dReal dGeomRayGetLength(dxGeom* g){
+        return ((dxRay*)dGeomGetClassData(g))->Length;
+}
+
+void dGeomRaySet(dxGeom* g, dVector3 Origin, dVector3 Direction){
+        dGeomSetPosition(g, Origin[0], Origin[1], Origin[2]);
+
+        dVector3 Up, Right;
+        dPlaneSpace(Direction, Up, Right);
+
+        Origin[3] = Up[3] = Right[3] = REAL(0.0);
+
+        dMatrix3 Rotation;
+        Rotation[0 * 4 + 0] = Right[0];
+        Rotation[1 * 4 + 0] = Right[1];
+        Rotation[2 * 4 + 0] = Right[2];
+        Rotation[3 * 4 + 0] = Right[3];
+
+        Rotation[0 * 4 + 1] = Up[0];
+        Rotation[1 * 4 + 1] = Up[1];
+        Rotation[2 * 4 + 1] = Up[2];
+        Rotation[3 * 4 + 1] = Up[3];
+
+        Rotation[0 * 4 + 2] = Direction[0];
+        Rotation[1 * 4 + 2] = Direction[1];
+        Rotation[2 * 4 + 2] = Direction[2];
+        Rotation[3 * 4 + 2] = Direction[3];
+
+        dGeomSetRotation(g, Rotation);
+}
+
+void dGeomRayGet(dxGeom* g, dVector3 Origin, dVector3 Direction){
+        const dReal* Position = dGeomGetPosition(g);
+        Origin[0] = Position[0];
+        Origin[1] = Position[1];
+        Origin[2] = Position[2];
+        Origin[3] = Position[3];
+
+        const dReal* Rotation = dGeomGetRotation(g);
+        Direction[0] = Rotation[0 * 4 + 2];
+        Direction[1] = Rotation[1 * 4 + 2];
+        Direction[2] = Rotation[2 * 4 + 2];
+        Direction[3] = Rotation[3 * 4 + 2];
+}
\ No newline at end of file
diff --git a/libraries/ode-0.9\/contrib/dRay/dRay_Box.cpp b/libraries/ode-0.9\/contrib/dRay/dRay_Box.cpp
new file mode 100755
index 0000000..d2a0d9c
--- /dev/null
+++ b/libraries/ode-0.9\/contrib/dRay/dRay_Box.cpp
@@ -0,0 +1,134 @@
+// Ripped from Magic Software
+
+#include "Include\dRay.h"
+#include "dxRay.h"
+
+bool Clip(dReal Denom, dReal Numer, dReal& T0, dReal& T1){
+    // Return value is 'true' if line segment intersects the current test
+    // plane.  Otherwise 'false' is returned in which case the line segment
+    // is entirely clipped.
+        
+    if (Denom > REAL(0.0)){
+                if (Numer > Denom * T1){
+            return false;
+                }
+
+        if (Numer > Denom * T0){
+            T0 = Numer / Denom;
+                }
+        return true;
+    }
+    else if (Denom < REAL(0.0)){
+        if (Numer > Denom * T0){
+            return false;
+                }
+
+        if (Numer > Denom * T1){
+            T1 = Numer / Denom;
+                }
+        return true;
+    }
+    else return Numer <= REAL(0.0);
+}
+
+bool FindIntersection(const dVector3 Origin, const dVector3 Direction, const dVector3 Extents, dReal& T0, dReal& T1){
+    dReal SaveT0 = T0;
+        dReal SaveT1 = T1;
+
+    bool NotEntirelyClipped =
+        Clip(+Direction[0], -Origin[0] - Extents[0], T0, T1) &&
+        Clip(-Direction[0], +Origin[0] - Extents[0], T0, T1) &&
+        Clip(+Direction[1], -Origin[1] - Extents[1], T0, T1) &&
+        Clip(-Direction[1], +Origin[1] - Extents[1], T0, T1) &&
+        Clip(+Direction[2], -Origin[2] - Extents[2], T0, T1) &&
+        Clip(-Direction[2], +Origin[2] - Extents[2], T0, T1);
+
+    return NotEntirelyClipped && (T0 != SaveT0 || T1 != SaveT1);
+}
+
+int dCollideBR(dxGeom* RayGeom, dxGeom* BoxGeom, int Flags, dContactGeom* Contacts, int Stride){
+        const dVector3& Position = *(const dVector3*)dGeomGetPosition(BoxGeom);
+        const dMatrix3& Rotation = *(const dMatrix3*)dGeomGetRotation(BoxGeom);
+        dVector3 Extents;
+        dGeomBoxGetLengths(BoxGeom, Extents);
+        Extents[0] /= 2;
+        Extents[1] /= 2;
+        Extents[2] /= 2;
+        Extents[3] /= 2;
+
+        dVector3 Origin, Direction;
+        dGeomRayGet(RayGeom, Origin, Direction);
+        dReal Length = dGeomRayGetLength(RayGeom);
+
+        dVector3 Diff;
+        Diff[0] = Origin[0] - Position[0];
+        Diff[1] = Origin[1] - Position[1];
+        Diff[2] = Origin[2] - Position[2];
+        Diff[3] = Origin[3] - Position[3];
+
+        Direction[0] *= Length;
+        Direction[1] *= Length;
+        Direction[2] *= Length;
+        Direction[3] *= Length;
+
+        dVector3 Rot[3];
+        Decompose(Rotation, Rot);
+
+        dVector3 TransOrigin;
+        TransOrigin[0] = dDOT(Diff, Rot[0]);
+        TransOrigin[1] = dDOT(Diff, Rot[1]);
+        TransOrigin[2] = dDOT(Diff, Rot[2]);
+        TransOrigin[3] = REAL(0.0);
+
+        dVector3 TransDirection;
+        TransDirection[0] = dDOT(Direction, Rot[0]);
+        TransDirection[1] = dDOT(Direction, Rot[1]);
+        TransDirection[2] = dDOT(Direction, Rot[2]);
+        TransDirection[3] = REAL(0.0);
+
+        dReal T[2];
+        T[0] = 0.0f;
+        T[1] = dInfinity;
+
+        bool Intersect = FindIntersection(TransOrigin, TransDirection, Extents, T[0], T[1]);
+
+        if (Intersect){
+                if (T[0] > REAL(0.0)){
+                        dContactGeom* Contact0 = CONTACT(Flags, Contacts, 0, Stride);
+                        Contact0->pos[0] = Origin[0] + T[0] * Direction[0];
+                        Contact0->pos[1] = Origin[1] + T[0] * Direction[1];
+                        Contact0->pos[2] = Origin[2] + T[0] * Direction[2];
+                        Contact0->pos[3] = Origin[3] + T[0] * Direction[3];
+                        //Contact0->normal = 0;
+                        Contact0->depth = 0.0f;
+                        Contact0->g1 = RayGeom;
+                        Contact0->g2 = BoxGeom;
+
+                        dContactGeom* Contact1 = CONTACT(Flags, Contacts, 1, Stride);
+                        Contact1->pos[0] = Origin[0] + T[1] * Direction[0];
+                        Contact1->pos[1] = Origin[1] + T[1] * Direction[1];
+                        Contact1->pos[2] = Origin[2] + T[1] * Direction[2];
+                        Contact1->pos[3] = Origin[3] + T[1] * Direction[3];
+                        //Contact1->normal = 0;
+                        Contact1->depth = 0.0f;
+                        Contact1->g1 = RayGeom;
+                        Contact1->g2 = BoxGeom;
+
+                        return 2;
+                }
+                else{
+                        dContactGeom* Contact = CONTACT(Flags, Contacts, 0, Stride);
+                        Contact->pos[0] = Origin[0] + T[1] * Direction[0];
+                        Contact->pos[1] = Origin[1] + T[1] * Direction[1];
+                        Contact->pos[2] = Origin[2] + T[1] * Direction[2];
+                        Contact->pos[3] = Origin[3] + T[1] * Direction[3];
+                        //Contact->normal = 0;
+                        Contact->depth = 0.0f;
+                        Contact->g1 = RayGeom;
+                        Contact->g2 = BoxGeom;
+
+                        return 1;
+                }
+        }
+        else return 0;
+}
\ No newline at end of file
diff --git a/libraries/ode-0.9\/contrib/dRay/dRay_CCylinder.cpp b/libraries/ode-0.9\/contrib/dRay/dRay_CCylinder.cpp
new file mode 100755
index 0000000..b9ea0c0
--- /dev/null
+++ b/libraries/ode-0.9\/contrib/dRay/dRay_CCylinder.cpp
@@ -0,0 +1,199 @@
+// Ripped from Magic Software
+
+#include "Include\dRay.h"
+#include "dxRay.h"
+
+int Find(const dVector3 Origin, dVector3 Direction, dReal Length, const dVector3 CCPos, const dMatrix3 CCRot, dReal CCRadius, dReal CCLength, dReal T[2]){
+        dVector3 U, V, W;
+        Decompose(CCRot, U, V, W);
+
+        dVector3 CCOrigin;
+        CCOrigin[0] = CCPos[0] - (W[0] * CCLength / 2);
+        CCOrigin[1] = CCPos[1] - (W[1] * CCLength / 2);
+        CCOrigin[2] = CCPos[2] - (W[2] * CCLength / 2);
+        CCOrigin[3] = CCPos[3] - (W[3] * CCLength / 2);
+        
+        dVector3 D;
+        D[0] = dDOT(U, Direction);
+        D[1] = dDOT(V, Direction);
+        D[2] = dDOT(W, Direction);
+
+        dReal DMag = Length;
+        dReal InvDMag = REAL(1.0) / DMag;
+
+        dVector3 Diff;
+        Diff[0] = Origin[0] - CCOrigin[0];
+        Diff[1] = Origin[1] - CCOrigin[1];
+        Diff[2] = Origin[2] - CCOrigin[2];
+        Diff[3] = Origin[3] - CCOrigin[3];
+
+        dVector3 P;
+        P[0] = dDOT(U, Diff);
+        P[1] = dDOT(V, Diff);
+        P[2] = dDOT(W, Diff);
+
+        dReal CCRadiusSq = CCRadius * CCRadius;
+
+        dReal Epsilon = 1e-12f;
+
+        if (dFabs(D[2]) >= REAL(1.0) - Epsilon){        // line is parallel to capsule axis
+                dReal Discr =  CCRadiusSq - P[0] * P[0] - P[1] * P[1];
+
+                if (Discr >= REAL(0.0)){
+            dReal Root = dSqrt(Discr);
+            T[0] = (-P[2] + Root) * InvDMag;
+            T[1] = (CCLength - P[2] + Root) * InvDMag;
+            return 2;
+        }
+        else return 0;
+        }
+
+        // test intersection with infinite cylinder
+    dReal A = D[0] * D[0] + D[1] * D[1];
+    dReal B = P[0] * D[0] + P[1] * D[1];
+    dReal C = P[0] * P[0] + P[1] * P[1] - CCRadiusSq;
+    dReal Discr = B * B - A * C;
+    if (Discr < REAL(0.0)){     // line does not intersect infinite cylinder
+        return 0;
+    }
+
+        int Count = 0;
+
+    if (Discr > REAL(0.0)){     // line intersects infinite cylinder in two places
+        dReal Root = dSqrt(Discr);
+        dReal Inv = REAL(1.0) / A;
+
+                dReal TTemp = (-B - Root) * Inv;
+
+        dReal Tmp = P[2] + TTemp * D[2];
+        if (REAL(0.0) <= Tmp && Tmp <= CCLength){
+                        T[Count++] = TTemp * InvDMag;
+                }
+                
+                
+        TTemp = (-B + Root) * Inv;
+        Tmp = P[2] + TTemp * D[2];
+        if (REAL(0.0) <= Tmp && Tmp <= CCLength){
+                        T[Count++] = TTemp * InvDMag;
+                }
+
+        if (Count == 2){        // line intersects capsule wall in two places
+            return 2;
+        }
+    }
+        else{   // line is tangent to infinite cylinder
+        dReal TTemp = -B / A;
+        dReal Tmp = P[2] + TTemp * D[2];
+        if (REAL(0.0) <= Tmp && Tmp <= CCLength){
+            T[0] = TTemp * InvDMag;
+            return 1;
+        }
+    }
+
+        // test intersection with bottom hemisphere
+    // fA = 1
+    B += P[2] * D[2];
+    C += P[2] * P[2];
+    Discr = B * B - C;
+    if (Discr > REAL(0.0)){
+        dReal Root = dSqrt(Discr);
+        dReal TTemp = -B - Root;
+        dReal Tmp = P[2] + TTemp * D[2];
+        if (Tmp <= REAL(0.0)){
+            T[Count++] = TTemp * InvDMag;
+            if (Count == 2){
+                return 2;
+                        }
+        }
+
+        TTemp = -B + Root;
+        Tmp = P[2] + TTemp * D[2];
+        if (Tmp <= REAL(0.0)){
+            T[Count++] = TTemp * InvDMag;
+            if (Count == 2){
+                return 2;
+                        }
+        }
+    }
+    else if (Discr == REAL(0.0)){
+        dReal TTemp = -B;
+        dReal Tmp = P[2] + TTemp * D[2];
+        if (Tmp <= REAL(0.0)){
+            T[Count++] = TTemp * InvDMag;
+            if (Count == 2){
+                return 2;
+                        }
+        }
+    }
+
+        // test intersection with top hemisphere
+    // fA = 1
+    B -= D[2] * CCLength;
+    C += CCLength * (CCLength - REAL(2.0) * P[2]);
+
+    Discr = B * B - C;
+    if (Discr > REAL(0.0)){
+        dReal Root = dSqrt(Discr);
+        dReal TTemp = -B - Root;
+        dReal Tmp = P[2] + TTemp * D[2];
+        if (Tmp >= CCLength){
+
+            T[Count++] = TTemp * InvDMag;
+            if (Count == 2){
+                return 2;
+                        }
+        }
+
+        TTemp = -B + Root;
+        Tmp = P[2] + TTemp * D[2];
+        if (Tmp >= CCLength){
+            T[Count++] = TTemp * InvDMag;
+            if (Count == 2){
+                return 2;
+                        }
+        }
+    }
+    else if (Discr == REAL(0.0)){
+        dReal TTemp = -B;
+        dReal Tmp = P[2] + TTemp * D[2];
+        if (Tmp >= CCLength){
+            T[Count++] = TTemp * InvDMag;
+            if (Count == 2){
+                return 2;
+                        }
+        }
+    }
+        return Count;
+}
+
+int dCollideCCR(dxGeom* RayGeom, dxGeom* CCGeom, int Flags, dContactGeom* Contacts, int Stride){
+        const dVector3& CCPos = *(const dVector3*)dGeomGetPosition(CCGeom);
+        const dMatrix3& CCRot = *(const dMatrix3*)dGeomGetRotation(CCGeom);
+
+        dReal CCRadius, CCLength;
+        dGeomCCylinderGetParams(CCGeom, &CCRadius, &CCLength);
+
+        dVector3 Origin, Direction;
+        dGeomRayGet(RayGeom, Origin, Direction);
+        dReal Length = dGeomRayGetLength(RayGeom);
+
+        dReal T[2];
+    int Count = Find(Origin, Direction, Length, CCPos, CCRot, CCRadius, CCLength, T);
+        int ContactCount = 0;
+        for (int i = 0; i < Count; i++){
+                if (T[i] >= 0.0){
+                        dContactGeom* Contact = CONTACT(Flags, Contacts, ContactCount, Stride);
+                        Contact->pos[0] = Origin[0] + T[i] * Direction[0] * Length;
+                        Contact->pos[1] = Origin[1] + T[i] * Direction[1] * Length;
+                        Contact->pos[2] = Origin[2] + T[i] * Direction[2] * Length;
+                        Contact->pos[3] = Origin[3] + T[i] * Direction[3] * Length;
+                        //Contact->normal = 0;
+                        Contact->depth = 0.0f;
+                        Contact->g1 = RayGeom;
+                        Contact->g2 = CCGeom;
+
+                        ContactCount++;
+                }
+        }
+    return ContactCount;
+}
\ No newline at end of file
diff --git a/libraries/ode-0.9\/contrib/dRay/dRay_Plane.cpp b/libraries/ode-0.9\/contrib/dRay/dRay_Plane.cpp
new file mode 100755
index 0000000..cf03c5b
--- /dev/null
+++ b/libraries/ode-0.9\/contrib/dRay/dRay_Plane.cpp
@@ -0,0 +1,35 @@
+// Ripped from Paul Bourke
+
+#include "Include\dRay.h"
+#include "dxRay.h"
+
+int dCollidePR(dxGeom* RayGeom, dxGeom* PlaneGeom, int Flags, dContactGeom* Contact, int Stride){
+        dVector3 Plane;
+        dGeomPlaneGetParams(PlaneGeom, Plane);
+
+        dVector3 Origin, Direction;
+        dGeomRayGet(RayGeom, Origin, Direction);
+
+        dReal Length = dGeomRayGetLength(RayGeom);
+
+        dReal Denom = Plane[0] * Direction[0] + Plane[1] * Direction[1] + Plane[2] * Direction[2];
+        if (dFabs(Denom) < 0.00001f){
+                return 0;       // Ray never hits
+        }
+        
+        float T = -(Plane[3] + Plane[0] * Origin[0] + Plane[1] * Origin[1] + Plane[2] * Origin[2]) / Denom;
+        
+        if (T < 0 || T > Length){
+                return 0;       // Ray hits but not within boundaries
+        }
+
+        Contact->pos[0] = Origin[0] + T * Direction[0];
+        Contact->pos[1] = Origin[1] + T * Direction[1];
+        Contact->pos[2] = Origin[2] + T * Direction[2];
+        Contact->pos[3] = REAL(0.0);
+        //Contact->normal = 0;
+        Contact->depth = 0.0f;
+        Contact->g1 = RayGeom;
+        Contact->g2 = PlaneGeom;
+        return 1;
+}
\ No newline at end of file
diff --git a/libraries/ode-0.9\/contrib/dRay/dRay_Sphere.cpp b/libraries/ode-0.9\/contrib/dRay/dRay_Sphere.cpp
new file mode 100755
index 0000000..8e1ac39
--- /dev/null
+++ b/libraries/ode-0.9\/contrib/dRay/dRay_Sphere.cpp
@@ -0,0 +1,95 @@
+// Ripped from Magic Software
+
+#include "Include\dRay.h"
+#include "dxRay.h"
+
+int dCollideSR(dxGeom* RayGeom, dxGeom* SphereGeom, int Flags, dContactGeom* Contacts, int Stride){
+        const dVector3& Position = *(const dVector3*)dGeomGetPosition(SphereGeom);
+        dReal Radius = dGeomSphereGetRadius(SphereGeom);
+
+        dVector3 Origin, Direction;
+        dGeomRayGet(RayGeom, Origin, Direction);
+        dReal Length = dGeomRayGetLength(RayGeom);
+
+        dVector3 Diff;
+        Diff[0] = Origin[0] - Position[0];
+        Diff[1] = Origin[1] - Position[1];
+        Diff[2] = Origin[2] - Position[2];
+        Diff[3] = Origin[3] - Position[3];
+
+        Direction[0] *= Length;
+        Direction[1] *= Length;
+        Direction[2] *= Length;
+        Direction[3] *= Length;
+
+        dReal A = Length * Length;
+        dReal B = dDOT(Diff, Direction);
+        dReal C = dDOT(Diff, Diff) - (Radius * Radius);
+
+        dReal Discr = B * B - A * C;
+        if (Discr < REAL(0.0)){
+                return 0;
+        }
+        else if (Discr > REAL(0.0)){
+                dReal T[2];
+                dReal Root = dSqrt(Discr);
+                dReal InvA = REAL(1.0) / A;
+                T[0] = (-B - Root) * InvA;
+                T[1] = (-B + Root) * InvA;
+
+                if (T[0] >= REAL(0.0)){
+                        dContactGeom* Contact0 = CONTACT(Flags, Contacts, 0, Stride);
+                        Contact0->pos[0] = Origin[0] + T[0] * Direction[0];
+                        Contact0->pos[1] = Origin[1] + T[0] * Direction[1];
+                        Contact0->pos[2] = Origin[2] + T[0] * Direction[2];
+                        Contact0->pos[3] = Origin[3] + T[0] * Direction[3];
+                        //Contact0->normal = 0;
+                        Contact0->depth = 0.0f;
+                        Contact0->g1 = RayGeom;
+                        Contact0->g2 = SphereGeom;
+
+                        dContactGeom* Contact1 = CONTACT(Flags, Contacts, 1, Stride);
+                        Contact1->pos[0] = Origin[0] + T[1] * Direction[0];
+                        Contact1->pos[1] = Origin[1] + T[1] * Direction[1];
+                        Contact1->pos[2] = Origin[2] + T[1] * Direction[2];
+                        Contact1->pos[3] = Origin[3] + T[1] * Direction[3];
+                        //Contact1->normal = 0;
+                        Contact1->depth = 0.0f;
+                        Contact1->g1 = RayGeom;
+                        Contact1->g2 = SphereGeom;
+
+                        return 2;
+                }
+                else if (T[1] >= REAL(0.0)){
+                        dContactGeom* Contact = CONTACT(Flags, Contacts, 1, Stride);
+                        Contact->pos[0] = Origin[0] + T[1] * Direction[0];
+                        Contact->pos[1] = Origin[1] + T[1] * Direction[1];
+                        Contact->pos[2] = Origin[2] + T[1] * Direction[2];
+                        Contact->pos[3] = Origin[3] + T[1] * Direction[3];
+                        //Contact->normal = 0;
+                        Contact->depth = 0.0f;
+                        Contact->g1 = RayGeom;
+                        Contact->g2 = SphereGeom;
+
+            return 1;
+                }
+                else return 0;
+        }
+        else{
+                dReal T;
+                T = -B / A;
+                if (T >= REAL(0.0)){
+                        dContactGeom* Contact = CONTACT(Flags, Contacts, 0, Stride);
+                        Contact->pos[0] = Origin[0] + T * Direction[0];
+                        Contact->pos[1] = Origin[1] + T * Direction[1];
+                        Contact->pos[2] = Origin[2] + T * Direction[2];
+                        Contact->pos[3] = Origin[3] + T * Direction[3];
+                        //Contact->normal = 0;
+                        Contact->depth = 0.0f;
+                        Contact->g1 = RayGeom;
+                        Contact->g2 = SphereGeom;
+            return 1;
+                }
+                else return 0;
+        }
+}
\ No newline at end of file
diff --git a/libraries/ode-0.9\/contrib/dRay/dxRay.h b/libraries/ode-0.9\/contrib/dRay/dxRay.h
new file mode 100755
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