From 79eca25c945a535a7a0325999034bae17da92412 Mon Sep 17 00:00:00 2001
From: dan miller
Date: Fri, 19 Oct 2007 05:15:33 +0000
Subject: resubmitting ode

---
 libraries/ode-0.9/contrib/dRay/dxRay.h | 32 ++++++++++++++++++++++++++++++++
 1 file changed, 32 insertions(+)
 create mode 100644 libraries/ode-0.9/contrib/dRay/dxRay.h

(limited to 'libraries/ode-0.9/contrib/dRay/dxRay.h')

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
-- 
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