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diff --git a/libs/ode-0.16.1/OPCODE/Ice/IceRay.cpp b/libs/ode-0.16.1/OPCODE/Ice/IceRay.cpp
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+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ * Contains code for rays.
+ * \file IceRay.cpp
+ * \author Pierre Terdiman
+ * \date April, 4, 2000
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/**
+ * Ray class.
+ * A ray is a half-line P(t) = mOrig + mDir * t, with 0 <= t <= +infinity
+ * \class Ray
+ * \author Pierre Terdiman
+ * \version 1.0
+ */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+/*
+ O = Origin = impact point
+ i = normalized vector along the x axis
+ j = normalized vector along the y axis = actually the normal vector in O
+ D = Direction vector, norm |D| = 1
+ N = Projection of D on y axis, norm |N| = normal reaction
+ T = Projection of D on x axis, norm |T| = tangential reaction
+ R = Reflexion vector
+
+ ^y
+ |
+ |
+ |
+ _ _ _| _ _ _
+ * * *|
+ \ | /
+ \ |N / |
+ R\ | /D
+ \ | / |
+ \ | /
+ _________\|/______*_______>x
+ O T
+
+ Let define theta = angle between D and N. Then cos(theta) = |N| / |D| = |N| since D is normalized.
+
+ j|D = |j|*|D|*cos(theta) => |N| = j|D
+
+ Then we simply have:
+
+ D = N + T
+
+ To compute tangential reaction :
+
+ T = D - N
+
+ To compute reflexion vector :
+
+ R = N - T = N - (D-N) = 2*N - D
+*/
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+// Precompiled Header
+#include "Stdafx.h"
+
+using namespace IceMaths;
+
+float Ray::SquareDistance(const Point& point, float* t) const
+{
+ Point Diff = point - mOrig;
+ float fT = Diff | mDir;
+
+ if(fT<=0.0f)
+ {
+ fT = 0.0f;
+ }
+ else
+ {
+ fT /= mDir.SquareMagnitude();
+ Diff -= fT*mDir;
+ }
+
+ if(t) *t = fT;
+
+ return Diff.SquareMagnitude();
+}