int
collide_recursive(box *b1, box *b2, double R[3][3], double T[3], double s)
{
double d[3]; // temp storage for scaled dimensions of box b2.
int rc; // return codes
if (1)
{
#if TRACE1
PrintInfo(("Next collision: b1, b2, R, T, s\n");
PrintInfo(("b1=%x, b2=%x\n", b1, b2);
Mprint(R);
Vprint(T);
PrintInfo(("%lf\n", s);
#endif
if (RAPID_first_contact && (RAPID_num_contacts > 0)) return RAPID_OK;
// test top level
RAPID_num_box_tests++;
int f1;
d[0] = s * b2->d[0];
d[1] = s * b2->d[1];
d[2] = s * b2->d[2];
f1 = obb_disjoint(R, T, b1->d, d);
#if TRACE1
if (f1 != 0)
{
PrintInfo(("BOX TEST %d DISJOINT! (code %d)\n", RAPID_num_box_tests, f1);
}
void printpart(part* p)
{
Vprint(p->pos);
}
