First stage in refactoring Bullet: moved Bullet Collision and Dynamics and LinearMath into src folder, and all files in Collision Detection and Dynamics have bt prefix.

Made all buildsystems to work again (jam, msvc, cmake)

Extras/SATConvexCollision/Quat.h

@@ -0,0 +1,87 @@
+// Bullet Continuous Collision Detection and Physics Library
+// Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+//
+// Quat.h
+//
+// Copyright (c) 2006 Simon Hobbs
+//
+// 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 BULLET_QUAT_H
+#define BULLET_QUAT_H
+
+#include "Vector.h"
+
+class Matrix33;
+
+
+class Quat : public Vector4Base
+{
+public:
+	BULLET_ALIGNED_NEW_AND_DELETE
+
+	// constructors
+	Quat();
+	Quat(const Scalar& x, const Scalar& y, const Scalar& z, const Scalar& w);
+	Quat(const Vector3& axis, const Scalar& angle);
+
+	// construction to constant
+	Quat(const Maths::IdentityTag&);
+
+	// explicit constructors
+	explicit Quat(const __m128 b);
+	explicit Quat(const Vector3& v);
+	explicit Quat(const Vector4& v);
+	explicit Quat(const Matrix33& m);
+	explicit Quat(const float* p);
+
+	// assignment
+	const Quat& operator=(const Quat& v);
+	const Quat& operator=(const Maths::IdentityTag&);
+
+	// in place operations
+	void operator+=(const Quat& b);
+	void operator-=(const Quat& b);
+	void operator*=(const Quat& b);
+	void operator*=(const Scalar& s);
+
+	// operations
+	friend const Quat operator-(const Quat& a);
+	friend const Quat operator+(const Quat& a, const Quat& b);
+	friend const Quat operator-(const Quat& a, const Quat& b);
+	friend const Quat operator*(const Quat& a, const Quat& b);
+	friend const Quat operator*(const Quat& a, const Scalar& s);
+	friend const Quat operator*(const Scalar& s, const Quat& a);
+
+	friend const Quat Inv(const Quat& a);
+
+	friend const Scalar Dot(const Quat& a, const Quat& b);
+
+	friend const Scalar Length(const Quat& a);
+	friend const Quat Normalize(const Quat& a);
+
+	friend const Scalar LengthFast(const Quat& a);
+	friend const Quat NormalizeFast(const Quat& a);
+
+	friend const Quat Slerp(const Quat& a, const Quat& b, const Scalar& t);
+	friend const Quat Lerp(const Quat& a, const Quat& b, const Scalar& t);
+
+	const Vector3 Rotate(const Vector3& v) const;
+	void GetAngleAxis(Vector3& axis, Scalar& angle) const;
+
+	// validation
+	bool IsFinite() const;
+};
+
+
+#include "Quat.inl"
+
+
+#endif //BULLET_QUAT_H