add Takahiro's batching pgs solver

opencl/gpu_rigidbody/host/btGpuBatchingPgsSolver.h

@@ -0,0 +1,32 @@
+
+#ifndef BT_GPU_BATCHING_PGS_SOLVER_H
+#define BT_GPU_BATCHING_PGS_SOLVER_H
+
+#include "../../basic_initialize/btOpenCLInclude.h"
+#include "../../parallel_primitives/host/btOpenCLArray.h"
+#include "../../gpu_sat/host/btRigidBodyCL.h"
+#include "../../gpu_sat/host/btContact4.h"
+#include "btGpuConstraint4.h"
+
+class btGpuBatchingPgsSolver
+{
+protected:
+
+	struct btGpuBatchingPgsSolverInternalData*		m_data;
+
+	void batchContacts( btOpenCLArray<btContact4>* contacts, int nContacts, btOpenCLArray<unsigned int>* n, btOpenCLArray<unsigned int>* offsets, int staticIdx );
+	inline int sortConstraintByBatch( btContact4* cs, int n, int simdWidth , int staticIdx);
+	void solveContactConstraint(  const btOpenCLArray<btRigidBodyCL>* bodyBuf, const btOpenCLArray<btInertiaCL>* shapeBuf, 
+			btOpenCLArray<btGpuConstraint4>* constraint, void* additionalData, int n ,int maxNumBatches, int numIterations);
+
+public:
+	
+	btGpuBatchingPgsSolver(cl_context ctx,cl_device_id device, cl_command_queue  q,int pairCapacity);
+	virtual ~btGpuBatchingPgsSolver();
+
+	void solveContacts(int numBodies, cl_mem bodyBuf, cl_mem inertiaBuf, int numContacts, cl_mem contactBuf, const struct btConfig& config);
+
+};
+
+#endif //BT_GPU_BATCHING_PGS_SOLVER_H
+