updated the Extras/quickstep files, for comparison

Extras/quickstep/OdeSolverBody.h

@@ -0,0 +1,47 @@
+/*
+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 ODE_SOLVER_BODY_H
+#define ODE_SOLVER_BODY_H
+
+class	btRigidBody;
+#include "LinearMath/btVector3.h"
+typedef btScalar dMatrix3[4*3];
+
+///ODE's quickstep needs just a subset of the rigidbody data in its own layout, so make a temp copy
+struct	OdeSolverBody
+{
+	btRigidBody*	m_originalBody;
+
+	btVector3		m_centerOfMassPosition;
+	/// for ode solver-binding
+	dMatrix3		m_R;//temp
+	dMatrix3		m_I;
+	dMatrix3		m_invI;
+
+	int				m_odeTag;
+	float			m_invMass;
+	float			m_friction;
+
+	btVector3		m_tacc;//temp
+	btVector3		m_facc;
+
+	btVector3		m_linearVelocity;
+	btVector3		m_angularVelocity;
+		
+};
+
+
+#endif //#ifndef ODE_SOLVER_BODY_H