add joint/constraint solver support (using CPU, Bullet 2.x solver), in combination with GPU contact solver

demo/gpudemo/rigidbody/Bullet2GpuDemo.cpp

@@ -0,0 +1,28 @@
+#include "Bullet2GpuDemo.h"
+#include "../btGpuDynamicsWorld.h"
+#include "GpuRigidBodyDemoInternalData.h"
+#include "BulletCollision/CollisionShapes/btBoxShape.h"
+#include "gpu_rigidbody/host/btRigidBody.h"
+
+void Bullet2GpuDemo::setupScene(const ConstructionInfo& ci)
+{
+
+//	m_data->m_np = np;
+//	m_data->m_bp = bp;
+//	m_data->m_rigidBodyPipeline
+	m_gpuDynamicsWorld = new btGpuDynamicsWorld(m_data->m_bp,m_data->m_np,m_data->m_rigidBodyPipeline);
+
+	btVector3 halfExtents(100,1,100);
+	btBoxShape* boxShape = new btBoxShape(halfExtents);
+	btVector3 localInertia;
+	btScalar mass=1.f;
+	boxShape->calculateLocalInertia(mass,localInertia);
+	btRigidBody* body = new btRigidBody(mass,0,boxShape,localInertia);
+	m_gpuDynamicsWorld->addRigidBody(body);
+}
+
+void	Bullet2GpuDemo::destroyScene()
+{
+	delete m_gpuDynamicsWorld;
+	m_gpuDynamicsWorld = 0;
+}