1 files changed, 95 insertions, 0 deletions
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/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 @@
	1	// Ripped from Magic Software
	2
	3	#include "Include\dRay.h"
	4	#include "dxRay.h"
	5
	6	int dCollideSR(dxGeom* RayGeom, dxGeom* SphereGeom, int Flags, dContactGeom* Contacts, int Stride){
	7	const dVector3& Position = (const dVector3)dGeomGetPosition(SphereGeom);
	8	dReal Radius = dGeomSphereGetRadius(SphereGeom);
	9
	10	dVector3 Origin, Direction;
	11	dGeomRayGet(RayGeom, Origin, Direction);
	12	dReal Length = dGeomRayGetLength(RayGeom);
	13
	14	dVector3 Diff;
	15	Diff[0] = Origin[0] - Position[0];
	16	Diff[1] = Origin[1] - Position[1];
	17	Diff[2] = Origin[2] - Position[2];
	18	Diff[3] = Origin[3] - Position[3];
	19
	20	Direction[0] *= Length;
	21	Direction[1] *= Length;
	22	Direction[2] *= Length;
	23	Direction[3] *= Length;
	24
	25	dReal A = Length * Length;
	26	dReal B = dDOT(Diff, Direction);
	27	dReal C = dDOT(Diff, Diff) - (Radius * Radius);
	28
	29	dReal Discr = B * B - A * C;
	30	if (Discr < REAL(0.0)){
	31	return 0;
	32	}
	33	else if (Discr > REAL(0.0)){
	34	dReal T[2];
	35	dReal Root = dSqrt(Discr);
	36	dReal InvA = REAL(1.0) / A;
	37	T[0] = (-B - Root) * InvA;
	38	T[1] = (-B + Root) * InvA;
	39
	40	if (T[0] >= REAL(0.0)){
	41	dContactGeom* Contact0 = CONTACT(Flags, Contacts, 0, Stride);
	42	Contact0->pos[0] = Origin[0] + T[0] * Direction[0];
	43	Contact0->pos[1] = Origin[1] + T[0] * Direction[1];
	44	Contact0->pos[2] = Origin[2] + T[0] * Direction[2];
	45	Contact0->pos[3] = Origin[3] + T[0] * Direction[3];
	46	//Contact0->normal = 0;
	47	Contact0->depth = 0.0f;
	48	Contact0->g1 = RayGeom;
	49	Contact0->g2 = SphereGeom;
	50
	51	dContactGeom* Contact1 = CONTACT(Flags, Contacts, 1, Stride);
	52	Contact1->pos[0] = Origin[0] + T[1] * Direction[0];
	53	Contact1->pos[1] = Origin[1] + T[1] * Direction[1];
	54	Contact1->pos[2] = Origin[2] + T[1] * Direction[2];
	55	Contact1->pos[3] = Origin[3] + T[1] * Direction[3];
	56	//Contact1->normal = 0;
	57	Contact1->depth = 0.0f;
	58	Contact1->g1 = RayGeom;
	59	Contact1->g2 = SphereGeom;
	60
	61	return 2;
	62	}
	63	else if (T[1] >= REAL(0.0)){
	64	dContactGeom* Contact = CONTACT(Flags, Contacts, 1, Stride);
	65	Contact->pos[0] = Origin[0] + T[1] * Direction[0];
	66	Contact->pos[1] = Origin[1] + T[1] * Direction[1];
	67	Contact->pos[2] = Origin[2] + T[1] * Direction[2];
	68	Contact->pos[3] = Origin[3] + T[1] * Direction[3];
	69	//Contact->normal = 0;
	70	Contact->depth = 0.0f;
	71	Contact->g1 = RayGeom;
	72	Contact->g2 = SphereGeom;
	73
	74	return 1;
	75	}
	76	else return 0;
	77	}
	78	else{
	79	dReal T;
	80	T = -B / A;
	81	if (T >= REAL(0.0)){
	82	dContactGeom* Contact = CONTACT(Flags, Contacts, 0, Stride);
	83	Contact->pos[0] = Origin[0] + T * Direction[0];
	84	Contact->pos[1] = Origin[1] + T * Direction[1];
	85	Contact->pos[2] = Origin[2] + T * Direction[2];
	86	Contact->pos[3] = Origin[3] + T * Direction[3];
	87	//Contact->normal = 0;
	88	Contact->depth = 0.0f;
	89	Contact->g1 = RayGeom;
	90	Contact->g2 = SphereGeom;
	91	return 1;
	92	}
	93	else return 0;
	94	}
	95	} \ No newline at end of file