add gpu_sat

opencl/gpu_sat/host/btConvexUtility.h

@@ -0,0 +1,62 @@
+
+/*
+Copyright (c) 2012 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 _BT_CONVEX_UTILITY_H
+#define _BT_CONVEX_UTILITY_H
+
+#include "parallel_primitives/host/btAlignedObjectArray.h"
+#include "parallel_primitives/host/btTransform.h"
+
+#include "btConvexPolyhedronCL.h"
+
+
+struct btMyFace
+{
+	btAlignedObjectArray<int>	m_indices;
+	btScalar	m_plane[4];
+};
+
+ATTRIBUTE_ALIGNED16(class) btConvexUtility
+{
+	public:
+	BT_DECLARE_ALIGNED_ALLOCATOR();
+
+	btVector3		m_localCenter;
+	btVector3		m_extents;
+	btVector3		mC;
+	btVector3		mE;
+	btScalar		m_radius;
+	
+	btAlignedObjectArray<btVector3>	m_vertices;
+	btAlignedObjectArray<btMyFace>	m_faces;
+	btAlignedObjectArray<btVector3> m_uniqueEdges;
+
+		
+	btConvexUtility()
+	{
+	}
+	virtual ~btConvexUtility();
+
+	bool	initializePolyhedralFeatures(const btVector3* orgVertices, int numVertices, bool mergeCoplanarTriangles=true);
+		
+	void	initialize();
+	bool testContainment() const;
+
+
+
+};
+#endif
+