Added btCudaBroadphase, some early research & development work to accelerate Bullet using CUDA

Re-uses the NVidia particle demo.

Extras/CUDA/particleSystem.h

@@ -0,0 +1,153 @@
+/*
+ * Copyright 1993-2006 NVIDIA Corporation.  All rights reserved.
+ *
+ * NOTICE TO USER:   
+ *
+ * This source code is subject to NVIDIA ownership rights under U.S. and 
+ * international Copyright laws.  
+ *
+ * NVIDIA MAKES NO REPRESENTATION ABOUT THE SUITABILITY OF THIS SOURCE 
+ * CODE FOR ANY PURPOSE.  IT IS PROVIDED "AS IS" WITHOUT EXPRESS OR 
+ * IMPLIED WARRANTY OF ANY KIND.  NVIDIA DISCLAIMS ALL WARRANTIES WITH 
+ * REGARD TO THIS SOURCE CODE, INCLUDING ALL IMPLIED WARRANTIES OF 
+ * MERCHANTABILITY, NONINFRINGEMENT, AND FITNESS FOR A PARTICULAR PURPOSE.   
+ * IN NO EVENT SHALL NVIDIA BE LIABLE FOR ANY SPECIAL, INDIRECT, INCIDENTAL, 
+ * OR CONSEQUENTIAL DAMAGES, OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS 
+ * OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE 
+ * OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE 
+ * OR PERFORMANCE OF THIS SOURCE CODE.  
+ *
+ * U.S. Government End Users.  This source code is a "commercial item" as 
+ * that term is defined at 48 C.F.R. 2.101 (OCT 1995), consisting  of 
+ * "commercial computer software" and "commercial computer software 
+ * documentation" as such terms are used in 48 C.F.R. 12.212 (SEPT 1995) 
+ * and is provided to the U.S. Government only as a commercial end item.  
+ * Consistent with 48 C.F.R.12.212 and 48 C.F.R. 227.7202-1 through 
+ * 227.7202-4 (JUNE 1995), all U.S. Government End Users acquire the 
+ * source code with only those rights set forth herein.
+ */
+
+#ifndef __BODYSYSTEMCUDA_H__
+#define __BODYSYSTEMCUDA_H__
+
+#define DEBUG_GRID 0
+#define DO_TIMING 0
+
+#include "particles_kernel.cuh"
+#include "vector_functions.h"
+#include "LinearMath/btAlignedObjectArray.h"
+
+// CUDA BodySystem: runs on the GPU
+class ParticleSystem
+{
+public:
+    ParticleSystem(uint numParticles, uint3 gridSize);
+    ~ParticleSystem();
+
+	
+	enum ParticleArray
+    {
+        POSITION,
+        VELOCITY,
+    };
+
+    enum ParticleConfig
+    {
+	    CONFIG_RANDOM,
+	    CONFIG_GRID,
+	    _NUM_CONFIGS
+    };
+
+	enum SimulationMode
+    {
+        SIMULATION_CUDA,
+        SIMULATION_BULLET_CPU,
+        SIMULATION_NUM_MODES
+    };
+
+	void reset(ParticleConfig config);
+		void	debugDraw();
+	
+
+	///
+	///Bullet data
+	///
+
+	void	initializeBullet();
+	void	finalizeBullet();
+	class btDiscreteDynamicsWorld*				m_dynamicsWorld;
+	class btDefaultCollisionConfiguration*		m_collisionConfiguration;
+	class btCollisionDispatcher*					m_dispatcher;
+	class btCudaBroadphase*						m_broadphase;
+	class btSequentialImpulseConstraintSolver*		m_constraintSolver;
+	btAlignedObjectArray<class btRigidBody*>				m_bulletParticles;
+
+    
+    void update(float deltaTime);
+
+    float* getArray(ParticleArray array);
+
+    int    getNumParticles() const;
+
+    unsigned int getCurrentReadBuffer() const;
+    unsigned int getColorBuffer() const;
+
+    void dumpGrid();
+    void dumpParticles(uint start, uint count);
+
+    void setIterations(int i) { m_solverIterations = i; }
+
+    void setDamping(float x) { m_params.globalDamping = x; }
+    void setGravity(float x) { m_params.gravity = make_float3(0.0f, x, 0.0f); }
+
+    void setCollideSpring(float x) { m_params.spring = x; }
+    void setCollideDamping(float x) { m_params.damping = x; }
+    void setCollideShear(float x) { m_params.shear = x; }
+    void setCollideAttraction(float x) { m_params.attraction = x; }
+
+    void setColliderPos(float4 x) { m_params.colliderPos = x; }
+
+    float getParticleRadius() { return m_params.particleRadius; }
+    float4 getColliderPos() { return m_params.colliderPos; }
+    float getColliderRadius() { return m_params.colliderRadius; }
+    uint3 getGridSize() { return m_params.gridSize; }
+    float3 getWorldOrigin() { return m_params.worldOrigin; }
+    float3 getCellSize() { return m_params.cellSize; }
+
+    void addSphere(int index, float *pos, float *vel, int r, float spacing);
+
+	SimulationMode	getSimulationMode() const
+	{
+		return m_simulationMode;
+	}
+
+	void	setSimulationMode(SimulationMode	mode)
+	{
+		m_simulationMode=mode;
+	}
+
+protected: // methods
+    ParticleSystem()
+		: m_simulationMode(SIMULATION_CUDA)
+	{}
+  
+    void initGrid(uint *size, float spacing, float jitter, uint numParticles);
+
+
+protected: // data
+    bool m_bInitialized;
+    
+
+  
+    // params
+    SimParams m_params;
+    uint m_maxParticlesPerCell;
+
+    uint m_timer;
+
+    uint m_solverIterations;
+
+	SimulationMode m_simulationMode;
+};
+
+#endif // __BODYSYSTEMCUDA_H__