example that shows how to register your own collision algorithms.

Demos/UserCollisionAlgorithm/SphereSphereCollisionAlgorithm.h

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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.
+*/
+
+#ifndef SPHERE_SPHERE_COLLISION_ALGORITHM_H
+#define SPHERE_SPHERE_COLLISION_ALGORITHM_H
+
+#include "BroadphaseCollision/CollisionAlgorithm.h"
+#include "BroadphaseCollision/BroadphaseProxy.h"
+#include "CollisionDispatch/CollisionCreateFunc.h"
+class PersistentManifold;
+
+/// SphereSphereCollisionAlgorithm  provides sphere-sphere collision detection.
+/// Other features are frame-coherency (persistent data) and collision response.
+/// Also provides the most basic sample for custom/user CollisionAlgorithm
+class SphereSphereCollisionAlgorithm : public CollisionAlgorithm
+{
+	bool	m_ownManifold;
+	PersistentManifold*	m_manifoldPtr;
+	
+public:
+	SphereSphereCollisionAlgorithm(const CollisionAlgorithmConstructionInfo& ci)
+		: CollisionAlgorithm(ci) {}
+
+	virtual void ProcessCollision (BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo);
+
+	virtual float CalculateTimeOfImpact(BroadphaseProxy* proxy0,BroadphaseProxy* proxy1,const DispatcherInfo& dispatchInfo);
+
+	SphereSphereCollisionAlgorithm(PersistentManifold* mf,const CollisionAlgorithmConstructionInfo& ci,BroadphaseProxy* proxy0,BroadphaseProxy* proxy1);
+
+	virtual ~SphereSphereCollisionAlgorithm();
+
+	struct CreateFunc :public 	CollisionAlgorithmCreateFunc
+	{
+		virtual	CollisionAlgorithm* CreateCollisionAlgorithm(CollisionAlgorithmConstructionInfo& ci, BroadphaseProxy* proxy0,BroadphaseProxy* proxy1)
+		{
+			return new SphereSphereCollisionAlgorithm(0,ci,proxy0,proxy1);
+		}
+	};
+
+};
+
+#endif //SPHERE_SPHERE_COLLISION_ALGORITHM_H