add gpu_broadphase with basic test

opencl/gpu_broadphase/host/btGpuSapBroadphase.h

@@ -0,0 +1,74 @@
+#ifndef BT_GPU_SAP_BROADPHASE_H
+#define BT_GPU_SAP_BROADPHASE_H
+
+#include "parallel_primitives/host/btOpenCLArray.h"
+#include "parallel_primitives/host/btFillCL.h" //btInt2
+class btVector3;
+#include "parallel_primitives/host/btRadixSort32CL.h"
+
+struct btSapAabb
+{
+	union
+	{
+		float m_min[4];
+		int m_minIndices[4];
+	};
+	union
+	{
+		float m_max[4];
+		int m_signedMaxIndices[4];
+		//unsigned int m_unsignedMaxIndices[4];
+	};
+};
+
+
+
+class btGpuSapBroadphase
+{
+	
+	cl_context				m_context;
+	cl_device_id			m_device;
+	cl_command_queue		m_queue;
+	cl_kernel				m_flipFloatKernel;
+	cl_kernel				m_scatterKernel ;
+	cl_kernel				m_copyAabbsKernel;
+	cl_kernel				m_sapKernel;
+	cl_kernel				m_sap2Kernel;
+
+	class btRadixSort32CL* m_sorter;
+
+	public:
+	
+	btOpenCLArray<btSapAabb>	m_allAabbsGPU;
+	btAlignedObjectArray<btSapAabb>	m_allAabbsCPU;
+
+	btOpenCLArray<btSapAabb>	m_smallAabbsGPU;
+	btAlignedObjectArray<btSapAabb>	m_smallAabbsCPU;
+
+	btOpenCLArray<btSapAabb>	m_largeAabbsGPU;
+	btAlignedObjectArray<btSapAabb>	m_largeAabbsCPU;
+
+	btOpenCLArray<btInt2>		m_overlappingPairs;
+
+	//temporary gpu work memory
+	btOpenCLArray<btSortData>	m_gpuSmallSortData;
+	btOpenCLArray<btSapAabb>	m_gpuSmallSortedAabbs;
+
+
+	btGpuSapBroadphase(cl_context ctx,cl_device_id device, cl_command_queue  q );
+	virtual ~btGpuSapBroadphase();
+	
+	void  calculateOverlappingPairs(bool forceHost=false);
+
+	void createProxy(const btVector3& aabbMin,  const btVector3& aabbMax, int userPtr ,short int collisionFilterGroup,short int collisionFilterMask);
+	void createLargeProxy(const btVector3& aabbMin,  const btVector3& aabbMax, int userPtr ,short int collisionFilterGroup,short int collisionFilterMask);
+
+	//call writeAabbsToGpu after done making all changes (createProxy etc)
+	void writeAabbsToGpu();
+
+	cl_mem	getAabbBuffer();
+	int	getNumOverlap();
+	cl_mem	getOverlappingPairBuffer();
+};
+
+#endif //BT_GPU_SAP_BROADPHASE_H