[ODE] Ray - Cylinder collider submission

[Maya Cakmak]

Hi;
Here's another corrected version the dCollideRayCylinder:
http://q12.org/pipermail/ode/2006-February/017766.html
We've been using it in a robot simulation for modeling sensors, 
including a laser range scanner.
Best Regards;

Maya Cakmak
Kovan Research Lab.

David Walters wrote:
> Hi, I've written a Ray - Cylinder collider function.
>
> I hope this will be useful to the community, and that it can be added
> to SVN. I've tested and commented the code pretty extensively, so my
> working should be pretty clear.
>
> Hope this helps.
>
> Regards,
> David Walters
>
> ps. I've not tested double precision or on any non-Win32 build.
>
>
> --------
>
> Installation instructions:
>
> Please find the core of the code attached to this e-mail. Paste the
> code into ray.cpp at the bottom somewhere.
>
> In addition, the following two small changes need to be made to hook 
> it up.
>
>
> * collision_kernel.cpp
>
> Add this to the list of registrations in 'initColliders':
>
>  setCollider( dRayClass, dCylinderClass, &dCollideRayCylinder );
>
>
> * collision_std.h
>
> Add this prototype:
>
> int dCollideRayCylinder( dxGeom *o1, dxGeom *o2,
>                                  int flags, dContactGeom *contact, int 
> skip );
>
>
>
> That's it : - )
> ------------------------------------------------------------------------
>
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>   

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