[ODE] GeomTransform

[Russ Smith]

hi erwin,

i had a think about the no-body-pointer-in-transformed-body-callbacks
problem. to recap: the problem is that dCollide() will return
contact g1,g2 for a *transformed* geom rather than the *Transform*
geom, which makes it problematic to get the corresponding body pointer
because the transformed geom has the body pointer set to 0.

what about this solution: dCollideT() sets the g1,g2 to the Transform
geom instead? this way you get the body pointer and the proper 
coordinates too from g1,g2. if you want the actual type, simply
interrogate the transform geom with dGeomTransformGetGeom().
the disadvantage is that this is a *slight* API change - but i doubt
many people are using this part of the API (?).

opinion?

russ.

--
Russell Smith
http://www.q12.org