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dxRay.h

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);


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