ThruTraffic,
From my reading of your troubleshooting efforts, sounds like you have reviewed and potentially eliminated the most obvious issues. Just in case I am misreading what you are saying, I'll mention a couple anyway.
The breaker on the generator unit itself would have been my first check--if it's tripped, the unit runs with no output. Sounds like you're saying that you verified it is functional however.
The transfer switch is the second obvious concern. However, also sounds like (after some effort) you located the transfer switch, and at that location "checked voltage from the generator at 120v", and also "observed the relay close with shore power disconnected". If that is generator-produced 120 volts (should have to be with no shore power connection), and if that is the relay closing that applies generator power to the RV circuits, sounds like the transfer switch is doing what it should.
If the above is correct, you covered the most obvious failure points. I suppose a wiring connection issue is a possibility after a jolt like you took, but since you say you're getting proper shore power, the output wiring from the transfer switch to the power panel must be OK. If you have power with 120v shore power applied to that wire, you would have power with 120v generator power applied to that wire. About the only possibilities are that the generator voltage is not getting applied to that output wire (even though you see a relay close), or that the120 volts generator voltage you are reading is just potential with no load applied, and is dropping to zero (or unusable voltage) when actually applied to the load by the relay. My troubleshooting at this point would probably involved more detailed voltage checks at the transfer switch to confirm exactly which that is.
Wish I could be more help, Mike