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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.


class btRigidBody;
#include "LinearMath/btVector3.h"
#include "LinearMath/btMatrix3x3.h"

ATTRIBUTE_ALIGNED16 (struct)  btSolverBody
      btVector3         m_centerOfMassPosition;
      btVector3         m_linearVelocity;
      btVector3         m_angularVelocity;
      btRigidBody*      m_originalBody;
      float             m_invMass;
      float             m_friction;
      float             m_angularFactor;

      inline void getVelocityInLocalPoint(const btVector3& rel_pos, btVector3& velocity ) const
            velocity = m_linearVelocity + m_angularVelocity.cross(rel_pos);

      //Optimization for the iterative solver: avoid calculating constant terms involving inertia, normal, relative position
      inline void internalApplyImpulse(const btVector3& linearComponent, const btVector3& angularComponent,btScalar impulseMagnitude)
            m_linearVelocity += linearComponent*impulseMagnitude;
            m_angularVelocity += angularComponent*impulseMagnitude*m_angularFactor;

      void  writebackVelocity()
            if (m_invMass)

      void  readVelocity()
            if (m_invMass)
                  m_linearVelocity = m_originalBody->getLinearVelocity();
                  m_angularVelocity = m_originalBody->getAngularVelocity();




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