re-introduce Bullet 2.x solver, in Bullet3Dynamics/ConstraintSolver/b3PgsJacobiSolver.*

move b3Contact and b3RigidBody

src/Bullet3Collision/NarrowPhaseCollision/b3Contact4.h

@@ -0,0 +1,42 @@
+#ifndef BT_CONTACT4_H
+#define BT_CONTACT4_H
+
+#include "Bullet3Common/b3Vector3.h"
+
+
+ATTRIBUTE_ALIGNED16(struct) b3Contact4
+{
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+
+	b3Vector3	m_worldPos[4];
+	b3Vector3	m_worldNormal;
+//	float m_restituitionCoeff;
+//	float m_frictionCoeff;
+	unsigned short  m_restituitionCoeffCmp;
+	unsigned short  m_frictionCoeffCmp;
+	int m_batchIdx;
+
+	int m_bodyAPtrAndSignBit;
+	int m_bodyBPtrAndSignBit;
+
+	int getBodyA()const {return abs(m_bodyAPtrAndSignBit);}
+	int getBodyB()const {return abs(m_bodyBPtrAndSignBit);}
+	bool isBodyAFixed()const { return m_bodyAPtrAndSignBit<0;}
+	bool isBodyBFixed()const { return m_bodyBPtrAndSignBit<0;}
+	//	todo. make it safer
+	int& getBatchIdx() { return m_batchIdx; }
+	const int& getBatchIdx() const { return m_batchIdx; }
+	float getRestituitionCoeff() const { return ((float)m_restituitionCoeffCmp/(float)0xffff); }
+	void setRestituitionCoeff( float c ) { btAssert( c >= 0.f && c <= 1.f ); m_restituitionCoeffCmp = (unsigned short)(c*0xffff); }
+	float getFrictionCoeff() const { return ((float)m_frictionCoeffCmp/(float)0xffff); }
+	void setFrictionCoeff( float c ) { btAssert( c >= 0.f && c <= 1.f ); m_frictionCoeffCmp = (unsigned short)(c*0xffff); }
+
+	float& getNPoints() { return m_worldNormal[3]; }
+	float getNPoints() const { return m_worldNormal[3]; }
+
+	float getPenetration(int idx) const { return m_worldPos[idx][3]; }
+
+	bool isInvalid() const { return (getBodyA()==0 || getBodyB()==0); }
+};
+
+#endif //BT_CONTACT4_H

src/Bullet3Collision/NarrowPhaseCollision/b3RigidBodyCL.h

@@ -0,0 +1,35 @@
+#ifndef BT_RIGID_BODY_CL
+#define BT_RIGID_BODY_CL
+
+#include "Bullet3Common/b3Scalar.h"
+#include "Bullet3Common/b3Matrix3x3.h"
+
+ATTRIBUTE_ALIGNED16(struct) b3RigidBodyCL
+{
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+
+	b3Vector3 		m_pos;
+	b3Quaternion 	m_quat;
+	b3Vector3			m_linVel;
+	b3Vector3			m_angVel;
+
+	int 					m_collidableIdx;
+	float 				m_invMass;
+	float 				m_restituitionCoeff;
+	float 				m_frictionCoeff;
+
+	float	getInvMass() const
+	{
+			return m_invMass;
+	}
+};
+
+
+struct btInertiaCL
+{
+	b3Matrix3x3 m_invInertiaWorld;
+	b3Matrix3x3 m_initInvInertia;
+};
+
+
+#endif//BT_RIGID_BODY_CL

src/Bullet3Collision/premake4.lua

@@ -0,0 +1,13 @@
+	project "Bullet3Collision"
+
+	language "C++"
+				
+	kind "StaticLib"
+		
+	includedirs {".."}
+	targetdir "../../bin"
+
+	files {
+		"**.cpp",
+		"**.h"
+	}