updated Bullet sequential impulse constraint solver, so it matches 100% ODE PGS quickstep solver innerloop, mainly by renaming variables...

Extras/quickstep/btOdeJoint.h

@@ -44,7 +44,7 @@ public:
   
 
   struct Info1 {
-    int m,nub;
+    int m_numConstraintRows,nub;
   };
 
   // info returned by getInfo2 function
@@ -58,7 +58,7 @@ public:
     // n*3 jacobian sub matrices, stored by rows. these matrices will have
     // been initialized to 0 on entry. if the second body is zero then the
     // J2xx pointers may be 0.
-    btScalar *J1l,*J1a,*J2l,*J2a;
+    btScalar *m_J1linearAxis,*m_J1angularAxis,*m_J2linearAxis,*m_J2angularAxis;
 
     // elements to jump from one row to the next in J's
     int rowskip;
@@ -66,10 +66,10 @@ public:
     // right hand sides of the equation J*v = c + cfm * lambda. cfm is the
     // "constraint force mixing" vector. c is set to zero on entry, cfm is
     // set to a constant value (typically very small or zero) value on entry.
-    btScalar *c,*cfm;
+    btScalar *m_constraintError,*cfm;
 
     // lo and hi limits for variables (set to -/+ infinity on entry).
-    btScalar *lo,*hi;
+    btScalar *m_lowerLimit,*m_higherLimit;
 
     // findex vector for variables. see the LCP solver interface for a
     // description of what this does. this is set to -1 on entry.