source: code/branches/ode/ode-0.9/contrib/dRay/dxRay.h @ 216

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);