fix some out-of-bounds error in the OpenCL rigid body pipeline

re-enable an OpenCL/gpu rigid body example (box-box stack)

examples/OpenCL/rigidbody/ConcaveScene.h

@@ -0,0 +1,101 @@
+#ifndef CONCAVE_SCENE_H
+#define CONCAVE_SCENE_H
+
+#include "GpuRigidBodyDemo.h"
+#include "Bullet3Common/b3Vector3.h"
+
+class ConcaveScene : public GpuRigidBodyDemo
+{
+public:
+
+	ConcaveScene(){}
+	virtual ~ConcaveScene(){}
+	virtual const char* getName()
+	{
+		return "BoxTrimesh";
+	}
+
+	static GpuDemo* MyCreateFunc()
+	{
+		GpuDemo* demo = new ConcaveScene;
+		return demo;
+	}
+
+	virtual void setupScene(const ConstructionInfo& ci);
+
+	virtual void createDynamicObjects(const ConstructionInfo& ci);
+
+	virtual void createConcaveMesh(const ConstructionInfo& ci, const char* fileName, const b3Vector3& shift, const b3Vector3& scaling);
+	
+};
+
+
+class ConcaveSphereScene : public ConcaveScene
+{
+public:
+
+	ConcaveSphereScene(){}
+	virtual ~ConcaveSphereScene(){}
+	virtual const char* getName()
+	{
+		return "SphereTrimesh";
+	}
+
+	static GpuDemo* MyCreateFunc()
+	{
+		GpuDemo* demo = new ConcaveSphereScene;
+		return demo;
+	}
+
+	virtual void setupScene(const ConstructionInfo& ci);
+
+	virtual void createDynamicObjects(const ConstructionInfo& ci);
+
+};
+
+
+class ConcaveCompoundScene : public ConcaveScene
+{
+public:
+
+	ConcaveCompoundScene(){}
+	virtual ~ConcaveCompoundScene(){}
+	virtual const char* getName()
+	{
+		return "CompoundConcave";
+	}
+
+	static GpuDemo* MyCreateFunc()
+	{
+		GpuDemo* demo = new ConcaveCompoundScene;
+		return demo;
+	}
+
+	virtual void setupScene(const ConstructionInfo& ci);
+
+	virtual void createDynamicObjects(const ConstructionInfo& ci);
+
+};
+
+
+class ConcaveCompound2Scene : public ConcaveCompoundScene
+{
+public:
+
+	ConcaveCompound2Scene(){}
+	virtual ~ConcaveCompound2Scene(){}
+	virtual const char* getName()
+	{
+		return "GRBConcave2Compound";
+	}
+
+	static GpuDemo* MyCreateFunc()
+	{
+		GpuDemo* demo = new ConcaveCompound2Scene;
+		return demo;
+	}
+	virtual void createDynamicObjects(const ConstructionInfo& ci);
+};
+
+
+#endif //CONCAVE_SCENE_H