added GPU joint solver for non-contact constraints. Only point 2 point version for now, will add some other constraints soon (changes are very local)

src/Bullet3OpenCL/RigidBody/b3GpuGenericConstraint.h

@@ -0,0 +1,130 @@
+/*
+Copyright (c) 2013 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 B3_GPU_GENERIC_CONSTRAINT_H
+#define B3_GPU_GENERIC_CONSTRAINT_H
+
+#include "Bullet3Common/b3Quaternion.h"
+struct b3RigidBodyCL;
+enum B3_CONSTRAINT_FLAGS
+{
+	B3_CONSTRAINT_FLAG_ENABLED=1,
+};
+
+enum b3GpuGenericConstraintType
+{
+	B3_GPU_POINT2POINT_CONSTRAINT_TYPE=3,
+//	B3_HINGE_CONSTRAINT_TYPE,
+//	B3_CONETWIST_CONSTRAINT_TYPE,
+//	B3_D6_CONSTRAINT_TYPE,
+//	B3_SLIDER_CONSTRAINT_TYPE,
+//	B3_CONTACT_CONSTRAINT_TYPE,
+//	B3_D6_SPRING_CONSTRAINT_TYPE,
+//	B3_GEAR_CONSTRAINT_TYPE,
+//	B3_FIXED_CONSTRAINT_TYPE,
+	B3_GPU_MAX_CONSTRAINT_TYPE
+};
+
+
+
+struct b3GpuConstraintInfo2 
+{
+	// integrator parameters: frames per second (1/stepsize), default error
+	// reduction parameter (0..1).
+	b3Scalar fps,erp;
+
+	// for the first and second body, pointers to two (linear and angular)
+	// n*3 jacobian sub matrices, stored by rows. these matrices will have
+	// been initialized to 0 on entry. if the second body is zero then the
+	// J2xx pointers may be 0.
+	b3Scalar *m_J1linearAxis,*m_J1angularAxis,*m_J2linearAxis,*m_J2angularAxis;
+
+	// elements to jump from one row to the next in J's
+	int rowskip;
+
+	// right hand sides of the equation J*v = c + cfm * lambda. cfm is the
+	// "constraint force mixing" vector. c is set to zero on entry, cfm is
+	// set to a constant value (typically very small or zero) value on entry.
+	b3Scalar *m_constraintError,*cfm;
+
+	// lo and hi limits for variables (set to -/+ infinity on entry).
+	b3Scalar *m_lowerLimit,*m_upperLimit;
+
+	// findex vector for variables. see the LCP solver interface for a
+	// description of what this does. this is set to -1 on entry.
+	// note that the returned indexes are relative to the first index of
+	// the constraint.
+	int *findex;
+	// number of solver iterations
+	int m_numIterations;
+
+	//damping of the velocity
+	b3Scalar	m_damping;
+};
+
+
+B3_ATTRIBUTE_ALIGNED16(struct) b3GpuGenericConstraint
+{
+	int				m_constraintType;
+	int				m_rbA;
+	int				m_rbB;
+	float			m_breakingImpulseThreshold;
+
+	b3Vector3 m_pivotInA;
+	b3Vector3 m_pivotInB;
+	b3Quaternion m_relTargetAB;
+
+	int	m_flags;
+	int m_padding[3];
+
+	int	getRigidBodyA() const
+	{
+		return m_rbA;
+	}
+	int	getRigidBodyB() const
+	{
+		return m_rbB;
+	}
+
+	const b3Vector3& getPivotInA() const
+	{
+		return m_pivotInA;
+	}
+
+	const b3Vector3& getPivotInB() const
+	{
+		return m_pivotInB;
+	}
+
+	int isEnabled() const
+	{
+		return m_flags & B3_CONSTRAINT_FLAG_ENABLED;
+	}
+
+	float getBreakingImpulseThreshold() const
+	{
+		return m_breakingImpulseThreshold;
+	}
+
+	///internal method used by the constraint solver, don't use them directly
+	void getInfo1 (unsigned int* info,const b3RigidBodyCL* bodies);
+
+	///internal method used by the constraint solver, don't use them directly
+	void getInfo2 (b3GpuConstraintInfo2* info,  const b3RigidBodyCL* bodies);
+
+
+};
+
+#endif //B3_GPU_GENERIC_CONSTRAINT_H