solver: introducet particle structure
solver: some cleanup
cuda; add cudaVector
solver: add sovler base class
Revert "solver: introducet particle structure"

This reverts commit 5f5f7484ae0ba1ff993cae3db26642b4cedc7e46.

Conflicts:
	src/engine/CUDASoftBodySolver.cu
	src/engine/CUDASoftBodySolverKernel.cu
cudasolver: code simplified
minor fixes.
buffers: changed VBO layout from (VNTVNT...) to (VVVV.. N.... T....)
cpusolver added.
cpusolver: add motion prediction
cpusolver: ground colliosn added, fix buffer updating
cpusolver: added shape infor preprocessing
cpusolver: shapre constraints added
cpusolver: fix shape constraints