more work towards CPU version

src/Bullet3Dynamics/b3CpuRigidBodyPipeline.h

@@ -0,0 +1,66 @@
+/*
+Copyright (c) 2013 Advanced Micro Devices, Inc.  
+
+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.
+*/
+//Originally written by Erwin Coumans
+
+#ifndef B3_CPU_RIGIDBODY_PIPELINE_H
+#define B3_CPU_RIGIDBODY_PIPELINE_H
+
+
+
+#include "Bullet3Common/b3AlignedObjectArray.h"
+#include "Bullet3OpenCL/Raycast/b3RaycastInfo.h"
+
+class b3CpuRigidBodyPipeline
+{
+protected:
+	struct b3CpuRigidBodyPipelineInternalData*	m_data;
+
+	int allocateCollidable();
+
+public:
+
+
+	b3CpuRigidBodyPipeline(class b3CpuNarrowPhase* narrowphase, struct b3DynamicBvhBroadphase* broadphaseDbvt, const struct b3Config& config);
+	virtual ~b3CpuRigidBodyPipeline();
+
+	virtual void	stepSimulation(float deltaTime);
+	virtual void	integrate(float timeStep);
+	virtual void	updateAabbWorldSpace();
+	virtual void	computeOverlappingPairs();
+	virtual void	computeContactPoints();
+
+	int		registerConvexPolyhedron(class b3ConvexUtility* convex);
+
+	int		registerPhysicsInstance(float mass, const float* position, const float* orientation, int collisionShapeIndex, int userData);
+	void	writeAllInstancesToGpu();
+	void	copyConstraintsToHost();
+	void	setGravity(const float* grav);
+	void	reset();
+	
+	int createPoint2PointConstraint(int bodyA, int bodyB, const float* pivotInA, const float* pivotInB,float breakingThreshold);
+	int createFixedConstraint(int bodyA, int bodyB, const float* pivotInA, const float* pivotInB, const float* relTargetAB, float breakingThreshold);
+	void removeConstraintByUid(int uid);
+
+	void	addConstraint(class b3TypedConstraint* constraint);
+	void	removeConstraint(b3TypedConstraint* constraint);
+
+	void	castRays(const b3AlignedObjectArray<b3RayInfo>& rays,	b3AlignedObjectArray<b3RayHit>& hitResults);
+
+	const struct b3RigidBodyData* getBodyBuffer() const;
+
+	int	getNumBodies() const;
+
+};
+
+#endif //B3_CPU_RIGIDBODY_PIPELINE_H