added gpudemo

demo/donttouch/btGpuDynamicsWorld.h

@@ -0,0 +1,109 @@
+#ifndef BT_GPU_DYNAMICS_WORLD_H
+#define BT_GPU_DYNAMICS_WORLD_H
+
+class btVector3;
+class btRigidBody;
+class btCollisionObject;
+struct btGpuInternalData;//use this struct to avoid 'leaking' all OpenCL headers into clients code base
+class CLPhysicsDemo;
+
+#include "BulletCommon/btAlignedObjectArray.h"
+//#include "BulletDynamics/Dynamics/btDynamicsWorld.h"
+
+
+class btGpuDynamicsWorld //: public btDynamicsWorld
+{
+	
+	btAlignedObjectArray<const class  btCollisionShape*> m_uniqueShapes;
+	btAlignedObjectArray<int> m_uniqueShapeMapping;
+
+
+	CLPhysicsDemo*		m_gpuPhysics;
+	btVector3			m_gravity;
+	bool	m_once;
+	
+	bool initOpenCL(int preferredDeviceIndex, int preferredPlatformIndex, bool useInterop);
+	void exitOpenCL();
+	
+	int findOrRegisterCollisionShape(const btCollisionShape* colShape);
+
+	
+public:
+	btGpuDynamicsWorld(int preferredOpenCLPlatformIndex,int preferredOpenCLDeviceIndex);
+
+	virtual ~btGpuDynamicsWorld();
+
+	virtual int		stepSimulation( btScalar timeStep,int maxSubSteps=1, btScalar fixedTimeStep=btScalar(1.)/btScalar(60.));
+
+	virtual void	synchronizeMotionStates()
+	{
+		btAssert(0);
+	}
+
+	void	debugDrawWorld() {}
+
+	void	setGravity(const btVector3& gravity);
+
+	void	addRigidBody(btRigidBody* body);
+
+	void	removeCollisionObject(btCollisionObject* colObj);
+
+	
+
+	btAlignedObjectArray<class btCollisionObject*>& getCollisionObjectArray();
+
+	const btAlignedObjectArray<class btCollisionObject*>& getCollisionObjectArray() const;
+
+	virtual void	addAction(btActionInterface* action)
+	{
+		btAssert(0);
+	}
+
+	virtual void	removeAction(btActionInterface* action)
+	{
+		btAssert(0);
+	}
+
+
+	btVector3 getGravity () const
+	{
+		return m_gravity;
+	}
+
+		virtual void	addRigidBody(btRigidBody* body, short group, short mask)
+		{
+			addRigidBody(body);
+		}
+
+		virtual void	removeRigidBody(btRigidBody* body)
+		{
+			btAssert(0);
+		}
+
+		virtual void	setConstraintSolver(btConstraintSolver* solver)
+		{
+			btAssert(0);
+		}
+
+		virtual btConstraintSolver* getConstraintSolver()
+		{
+			btAssert(0);
+			return 0;
+		}
+
+		virtual btDynamicsWorldType	getWorldType() const
+		{
+			return BT_GPU_PHYSICS_WORLD;
+		}
+
+		virtual void	clearForces()
+		{
+			btAssert(0);
+		}
+
+		
+
+};
+
+
+#endif //BT_GPU_DYNAMICS_WORLD_H