32 lines
1.2 KiB
C
32 lines
1.2 KiB
C
struct dxRay{
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dReal Length;
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};
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inline void Decompose(const dMatrix3 Matrix, dVector3 Right, dVector3 Up, dVector3 Direction){
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Right[0] = Matrix[0 * 4 + 0];
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Right[1] = Matrix[1 * 4 + 0];
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Right[2] = Matrix[2 * 4 + 0];
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Right[3] = Matrix[3 * 4 + 0];
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Up[0] = Matrix[0 * 4 + 1];
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Up[1] = Matrix[1 * 4 + 1];
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Up[2] = Matrix[2 * 4 + 1];
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Up[3] = Matrix[3 * 4 + 1];
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Direction[0] = Matrix[0 * 4 + 2];
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Direction[1] = Matrix[1 * 4 + 2];
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Direction[2] = Matrix[2 * 4 + 2];
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Direction[3] = Matrix[3 * 4 + 2];
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}
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inline void Decompose(const dMatrix3 Matrix, dVector3 Vectors[3]){
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Decompose(Matrix, Vectors[0], Vectors[1], Vectors[2]);
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}
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inline dContactGeom* CONTACT(int Flags, dContactGeom* Contacts, int Index, int Stride){
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dIASSERT(Index >= 0 && Index < (Flags & 0x0ffff));
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return ((dContactGeom*)(((char*)Contacts) + (Index * Stride)));
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}
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int dCollidePR(dxGeom* RayGeom, dxGeom* PlaneGeom, int Flags, dContactGeom* Contacts, int Stride);
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int dCollideSR(dxGeom* RayGeom, dxGeom* SphereGeom, int Flags, dContactGeom* Contacts, int Stride);
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int dCollideBR(dxGeom* RayGeom, dxGeom* BoxGeom, int Flags, dContactGeom* Contacts, int Stride);
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int dCollideCCR(dxGeom* RayGeom, dxGeom* CCylinderGeom, int Flags, dContactGeom* Contacts, int Stride); |