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

move b3Contact and b3RigidBody

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