I am somehow not able to define this - but I think it should be easily possible:
I have a cylinder (grey in the attached screenshot) connected to another cylinder (the hinge, red).
When the (red) hinge moves to a new position, the connected cylinder moves with it. Through the movement the grey cylinder hits an obstacle (the cube), and the collision forces it to rotate around the hinge. (Now I want to read the new cylinder position/rotation).
Many thanks for your help!
Screenshot and .blend attached.
simul_coll_example.blend (513 KB)