void CODEGeom::get_final_tx(dGeomID g,const dReal* &p,const dReal* &R,dReal * bufV, dReal* bufM)
{
if(is_transform(g))
{
computeFinalTx(g,bufV,bufM);
R=bufM;p=bufV;
}else
{
R=dGeomGetRotation(g);
p=dGeomGetPosition(g);
}
}
void dxGeomTransform::computeAABB()
{
if (!obj) {
dSetZero (aabb,6);
return;
}
// backup the relative pos and R pointers of the encapsulated geom object
dxPosR* posr_bak = obj->final_posr;
// compute temporary pos and R for the encapsulated geom object
computeFinalTx();
obj->final_posr = &transform_posr;
// compute the AABB
obj->computeAABB();
memcpy (aabb,obj->aabb,6*sizeof(dReal));
// restore the pos and R
obj->final_posr = posr_bak;
}
