resubmitting ode

1 files changed, 35 insertions, 0 deletions

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 100644
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