diff --git a/src/BulletDynamics/ConstraintSolver/btSolverBody.h b/src/BulletDynamics/ConstraintSolver/btSolverBody.h
new file mode 100644
index 000000000..6c8ddf1ca
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+++ b/src/BulletDynamics/ConstraintSolver/btSolverBody.h
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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.
+*/
+
+#ifndef BT_SOLVER_BODY_H
+#define BT_SOLVER_BODY_H
+
+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_unused;
+
+	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;
+	}
+
+	void	writebackVelocity()
+	{
+		if (m_invMass)
+		{
+			m_originalBody->setLinearVelocity(m_linearVelocity);
+			m_originalBody->setAngularVelocity(m_angularVelocity);
+		}
+	}
+
+	void	readVelocity()
+	{
+		if (m_invMass)
+		{
+			m_linearVelocity = m_originalBody->getLinearVelocity();
+			m_angularVelocity = m_originalBody->getAngularVelocity();
+		}
+	}
+
+	
+
+	inline void	applyImpulse(const btVector3& impulse,const btVector3& rel_pos)
+	{
+		if (m_invMass)
+		{
+			m_linearVelocity += impulse * m_invMass;
+			btVector3 torqueImpulse = rel_pos.cross(impulse);
+//			m_angularVelocity += m_invInertiaWorld * torqueImpulse;
+		}
+	}
+
+};
+
+#endif //BT_SOLVER_BODY_H
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