add preparation for btGpuJacobiSolver

opencl/gpu_rigidbody/host/btGpuJacobiSolver.h

@@ -0,0 +1,48 @@
+
+#ifndef BT_GPU_JACOBI_SOLVER_H
+#define BT_GPU_JACOBI_SOLVER_H
+#include "../../basic_initialize/btOpenCLUtils.h"
+
+#include "../../gpu_sat/host/btRigidBodyCL.h"
+#include "../../gpu_sat/host/btContact4.h"
+class btTypedConstraint;
+
+struct btJacobiSolverInfo
+{
+	int m_fixedBodyIndex;
+
+	float m_deltaTime;
+	float m_positionDrift;
+	float m_positionConstraintCoeff;
+
+
+	btJacobiSolverInfo()
+		:m_fixedBodyIndex(0),
+		m_deltaTime(1./60.f),
+		m_positionDrift( 0.005f ), 
+		m_positionConstraintCoeff( 0.2f )
+	{
+	}
+};
+class btGpuJacobiSolver
+{
+protected:
+
+	struct btGpuJacobiSolverInternalData* m_data;
+
+	cl_context m_context;
+	cl_device_id m_device;
+	cl_command_queue m_queue;
+
+public:
+
+	btGpuJacobiSolver(cl_context ctx, cl_device_id device, cl_command_queue queue, int pairCapacity);
+	virtual ~btGpuJacobiSolver();
+
+
+
+	void  solveGroup(btRigidBodyCL* bodies,btInertiaCL* inertias,int numBodies,btContact4* manifoldPtr, int numManifolds,btTypedConstraint** constraints,int numConstraints,const btJacobiSolverInfo& solverInfo);
+
+};
+#endif //BT_GPU_JACOBI_SOLVER_H
+