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Copyright (c) 2006-2010 Erin Catto http://www.gphysics.comThis software is provided 'as-is', without any express or impliedwarranty. In no event will the authors be held liable for any damagesarising 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 itfreely, subject to the following restrictions:1. The origin of this software must not be misrepresented; you must notclaim that you wrote the original software. If you use this softwarein a product, an acknowledgment in the product documentation would beappreciated but is not required.2. Altered source versions must be plainly marked as such, and must not bemisrepresented as being the original software.3. This notice may not be removed or altered from any source distribution.