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Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/

This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose, 
including commercial applications, and to alter it and redistribute it freely, 
subject to the following restrictions:

1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.


#include "../BroadphaseCollision/btCollisionAlgorithm.h"
#include "../BroadphaseCollision/btBroadphaseProxy.h"
#include "../CollisionDispatch/btCollisionCreateFunc.h"
class btPersistentManifold;
#include "../../LinearMath/btVector3.h"

/// btSphereBoxCollisionAlgorithm  provides sphere-box collision detection.
/// Other features are frame-coherency (persistent data) and collision response.
00027 class btSphereBoxCollisionAlgorithm : public btCollisionAlgorithm
      bool  m_ownManifold;
      btPersistentManifold*   m_manifoldPtr;
      bool  m_isSwapped;

      btSphereBoxCollisionAlgorithm(btPersistentManifold* mf,const btCollisionAlgorithmConstructionInfo& ci,btCollisionObject* col0,btCollisionObject* col1, bool isSwapped);

      virtual ~btSphereBoxCollisionAlgorithm();

      virtual void processCollision (btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);

      virtual btScalar calculateTimeOfImpact(btCollisionObject* body0,btCollisionObject* body1,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut);

      btScalar getSphereDistance( btCollisionObject* boxObj,btVector3& v3PointOnBox, btVector3& v3PointOnSphere, const btVector3& v3SphereCenter, btScalar fRadius );

      btScalar getSpherePenetration( btCollisionObject* boxObj, btVector3& v3PointOnBox, btVector3& v3PointOnSphere, const btVector3& v3SphereCenter, btScalar fRadius, const btVector3& aabbMin, const btVector3& aabbMax);
      struct CreateFunc :public     btCollisionAlgorithmCreateFunc
            virtual     btCollisionAlgorithm* CreateCollisionAlgorithm(btCollisionAlgorithmConstructionInfo& ci, btCollisionObject* body0,btCollisionObject* body1)
                  if (!m_swapped)
                        return new btSphereBoxCollisionAlgorithm(0,ci,body0,body1,false);
                  } else
                        return new btSphereBoxCollisionAlgorithm(0,ci,body0,body1,true);



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