text: ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
  /*
   *	OPCODE - Optimized Collision Detection
   *	Copyright (C) 2001 Pierre Terdiman
   *	Homepage: http://www.codercorner.com/Opcode.htm
   */
  ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
  
  ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
  /**
   *	Contains code for a sphere collider.
   *	\file		OPC_SphereCollider.h
   *	\author		Pierre Terdiman
   *	\date		June, 2, 2001
   */
  ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
  
  ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
  // Include Guard
  #ifndef __OPC_SPHERECOLLIDER_H__
  #define __OPC_SPHERECOLLIDER_H__
  
  	struct OPCODE_API SphereCache : VolumeCache
  	{
  					SphereCache() : Center(0.0f,0.0f,0.0f), FatRadius2(0.0f), FatCoeff(1.1f)	{}
  					~SphereCache()																{}
  
  		// Cached faces signature
  		Point		Center;		//!< Sphere used when performing the query resulting in cached faces
  		float		FatRadius2;	//!< Sphere used when performing the query resulting in cached faces
  		// User settings
  		float		FatCoeff;	//!< mRadius2 multiplier used to create a fat sphere
  	};
  
  	class OPCODE_API SphereCollider : public VolumeCollider
  	{
  		public:
  		// Constructor / Destructor
  											SphereCollider();
  		virtual								~SphereCollider();
  
  		///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
  		/**
  		 *	Generic collision query for generic OPCODE models. After the call, access the results:
  		 *	- with GetContactStatus()
  		 *	- with GetNbTouchedPrimitives()
  		 *	- with GetTouchedPrimitives()
  		 *
  		 *	\param		cache			[in/out] a sphere cache
  		 *	\param		sphere			[in] collision sphere in local space
  		 *	\param		model			[in] Opcode model to collide with
  		 *	\param		worlds			[in] sphere's world matrix, or null
  		 *	\param		worldm			[in] model's world matrix, or null
  		 *	\return		true if success
  		 *	\warning	SCALE NOT SUPPORTED. The matrices must contain rotation & translation parts only.
  		 */
  		///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
  							bool			Collide(SphereCache& cache, const Sphere& sphere, const Model& model, const Matrix4x4* worlds=null, const Matrix4x4* worldm=null);
  
  		// 
  							bool			Collide(SphereCache& cache, const Sphere& sphere, const AABBTree* tree);
  		protected:
  		// Sphere in model space
  							Point			mCenter;			//!< Sphere center
  							float			mRadius2;			//!< Sphere radius squared
  		// Internal methods
  							void			_Collide(const AABBCollisionNode* node);
  							void			_Collide(const AABBNoLeafNode* node);
  							void			_Collide(const AABBQuantizedNode* node);
  							void			_Collide(const AABBQuantizedNoLeafNode* node);
  							void			_Collide(const AABBTreeNode* node);
  							void			_CollideNoPrimitiveTest(const AABBCollisionNode* node);
  							void			_CollideNoPrimitiveTest(const AABBNoLeafNode* node);
  							void			_CollideNoPrimitiveTest(const AABBQuantizedNode* node);
  							void			_CollideNoPrimitiveTest(const AABBQuantizedNoLeafNode* node);
  			// Overlap tests
  		inline_				BOOL			SphereContainsBox(const Point& bc, const Point& be);
  		inline_				BOOL			SphereAABBOverlap(const Point& center, const Point& extents);
  							BOOL			SphereTriOverlap(const Point& vert0, const Point& vert1, const Point& vert2);
  			// Init methods
  							BOOL			InitQuery(SphereCache& cache, const Sphere& sphere, const Matrix4x4* worlds=null, const Matrix4x4* worldm=null);
  	};
  
  	class OPCODE_API HybridSphereCollider : public SphereCollider
  	{
  		public:
  		// Constructor / Destructor
  											HybridSphereCollider();
  		virtual								~HybridSphereCollider();
  
  							bool			Collide(SphereCache& cache, const Sphere& sphere, const HybridModel& model, const Matrix4x4* worlds=null, const Matrix4x4* worldm=null);
  		protected:
  							OPC_Container		mTouchedBoxes;
  	};
  
  #endif // __OPC_SPHERECOLLIDER_H__
  