Function dCollideUserGeomWithGeom

3rd_party/Src/ode/ode/src/collision_kernel.cpp:559–591

static int dCollideUserGeomWithGeom (dxGeom *o1, dxGeom *o2, int flags,
				     dContactGeom *contact, int skip)
{
  // this generic collider function is called the first time that a user class
  // tries to collide against something. it will find out the correct collider
  // function and then set the colliders array so that the correct function is
  // called directly the next time around.

  int t1 = o1->type;	// note that o1 is a user geom
  int t2 = o2->type;	// o2 *may* be a user geom

  // find the collider function to use. if o1 does not know how to collide with
  // o2, then o2 might know how to collide with o1 (provided that it is a user
  // geom).
  dColliderFn *fn = user_classes[t1-dFirstUserClass].collider (t2);
  int reverse = 0;
  if (!fn && t2 >= dFirstUserClass && t2 <= dLastUserClass) {
    fn = user_classes[t2-dFirstUserClass].collider (t1);
    reverse = 1;
  }

  // set the colliders array so that the correct function is called directly
  // the next time around. note that fn can be 0 here if no collider was found,
  // which means that dCollide() will always return 0 for this case.
  colliders[t1][t2].fn = fn;
  colliders[t1][t2].reverse = reverse;
  colliders[t2][t1].fn = fn;
  colliders[t2][t1].reverse = !reverse;

  // now call the collider function indirectly through dCollide(), so that
  // contact reversing is properly handled.
  return dCollide (o1,o2,flags,contact,skip);
}


int dCreateGeomClass (const dGeomClass *c)