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

Re-uses the NVidia particle demo.

Extras/CUDA/render_particles.h

@@ -0,0 +1,78 @@
+/*
+ * 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 __RENDER_PARTICLES__
+#define __RENDER_PARTICLES__
+
+class ParticleRenderer
+{
+public:
+    ParticleRenderer();
+    ~ParticleRenderer();
+
+    void setPositions(float *pos, int numParticles);
+    void setVertexBuffer(unsigned int vbo, int numParticles);
+    void setColorBuffer(unsigned int vbo) { m_colorVBO = vbo; }
+
+    enum DisplayMode
+    {
+        PARTICLE_POINTS,
+        PARTICLE_SPHERES,
+        PARTICLE_NUM_MODES
+    };
+
+    void display(DisplayMode mode = PARTICLE_POINTS);
+    void displayGrid();
+
+    void setPointSize(float size)  { m_pointSize = size; }
+    void setParticleRadius(float r) { m_particleRadius = r; }
+    void setFOV(float fov) { m_fov = fov; }
+    void setWindowSize(int w, int h) { m_window_w = w; m_window_h = h; }
+
+protected: // methods
+    void _initGL();
+    void _drawPoints();
+    GLuint _compileProgram(const char *vsource, const char *fsource);
+
+protected: // data
+    float *m_pos;
+    int m_numParticles;
+
+    float m_pointSize;
+    float m_particleRadius;
+    float m_fov;
+    int m_window_w, m_window_h;
+
+    GLuint m_program;
+
+    GLuint m_vbo;
+    GLuint m_colorVBO;
+};
+
+#endif //__ RENDER_PARTICLES__