Function dCollide

3rd_party/Src/ode/ode/src/collision_kernel.cpp:164–198

int dCollide (dxGeom *o1, dxGeom *o2, int flags, dContactGeom *contact,
	      int skip)
{
  dAASSERT(o1 && o2 && contact);
  dUASSERT(colliders_initialized,"colliders array not initialized");
  dUASSERT(o1->type >= 0 && o1->type < dGeomNumClasses,"bad o1 class number");
  dUASSERT(o2->type >= 0 && o2->type < dGeomNumClasses,"bad o2 class number");

  // no contacts if both geoms are the same
  if (o1 == o2) return 0;

  // no contacts if both geoms on the same body, and the body is not 0
  if (o1->body == o2->body && o1->body) return 0;

  dColliderEntry *ce = &colliders[o1->type][o2->type];
  int count = 0;
  if (ce->fn) {
    if (ce->reverse) {
      count = (*ce->fn) (o2,o1,flags,contact,skip);
      for (int i=0; i<count; i++) {
	dContactGeom *c = CONTACT(contact,skip*i);
	c->normal[0] = -c->normal[0];
	c->normal[1] = -c->normal[1];
	c->normal[2] = -c->normal[2];
	dxGeom *tmp = c->g1;
	c->g1 = c->g2;
	c->g2 = tmp;
      }
    }
    else {
      count = (*ce->fn) (o1,o2,flags,contact,skip);
    }
  }
  return count;
}

//****************************************************************************
// dxGeom