Function dCollideTransform

3rd_party/Src/ode/ode/src/collision_transform.cpp:120–168

// also be a transformed geom, but this case is not handled specially.

int dCollideTransform (dxGeom *o1, dxGeom *o2, int flags,
		       dContactGeom *contact, int skip)
{
  dIASSERT (skip >= (int)sizeof(dContactGeom));
  dIASSERT (o1->type == dGeomTransformClass);

  dxGeomTransform *tr = (dxGeomTransform*) o1;
  if (!tr->obj) return 0;
  dUASSERT (tr->obj->parent_space==0,
	    "GeomTransform encapsulated object must not be in a space");
  dUASSERT (tr->obj->body==0,
	    "GeomTransform encapsulated object must not be attached "
	    "to a body");

  // backup the relative pos and R pointers of the encapsulated geom object,
  // and the body pointer
  dReal *posbak = tr->obj->pos;
  dReal *Rbak = tr->obj->R;
  dxBody *bodybak = tr->obj->body;

  // compute temporary pos and R for the encapsulated geom object.
  // note that final_pos and final_R are valid if no GEOM_AABB_BAD flag,
  // because computeFinalTx() will have already been called in
  // dxGeomTransform::computeAABB()

  if (tr->gflags & GEOM_AABB_BAD) tr->computeFinalTx();
  tr->obj->pos = tr->final_pos;
  tr->obj->R = tr->final_R;
  tr->obj->body = o1->body;

  // do the collision
  int n = dCollide (tr->obj,o2,flags,contact,skip);

  // if required, adjust the 'g1' values in the generated contacts so that
  // thay indicated the GeomTransform object instead of the encapsulated
  // object.
  if (tr->infomode) {
    for (int i=0; i<n; i++) {
      dContactGeom *c = CONTACT(contact,skip*i);
      c->g1 = o1;
    }
  }

  // restore the pos, R and body
  tr->obj->pos = posbak;
  tr->obj->R = Rbak;
  tr->obj->body = bodybak;
  return n;
}

//****************************************************************************
// public API