bt -> b3 rename

add docs

opencl/gpu_broadphase/host/b3GpuSapBroadphase.h

@@ -0,0 +1,69 @@
+#ifndef BT_GPU_SAP_BROADPHASE_H
+#define BT_GPU_SAP_BROADPHASE_H
+
+#include "parallel_primitives/host/btOpenCLArray.h"
+#include "parallel_primitives/host/btFillCL.h" //btInt2
+class btVector3;
+#include "parallel_primitives/host/btRadixSort32CL.h"
+
+#include "b3SapAabb.h"
+
+
+
+class b3GpuSapBroadphase
+{
+	
+	cl_context				m_context;
+	cl_device_id			m_device;
+	cl_command_queue		m_queue;
+	cl_kernel				m_flipFloatKernel;
+	cl_kernel				m_scatterKernel ;
+	cl_kernel				m_copyAabbsKernel;
+	cl_kernel				m_sapKernel;
+	cl_kernel				m_sap2Kernel;
+
+	class btRadixSort32CL* m_sorter;
+
+	///test for 3d SAP
+	btAlignedObjectArray<btSortData>		m_sortedAxisCPU[3][2];
+	int	m_currentBuffer;
+
+	public:
+	
+	btOpenCLArray<b3SapAabb>	m_allAabbsGPU;
+	btAlignedObjectArray<b3SapAabb>	m_allAabbsCPU;
+
+	btOpenCLArray<b3SapAabb>	m_smallAabbsGPU;
+	btAlignedObjectArray<b3SapAabb>	m_smallAabbsCPU;
+
+	btOpenCLArray<b3SapAabb>	m_largeAabbsGPU;
+	btAlignedObjectArray<b3SapAabb>	m_largeAabbsCPU;
+
+	btOpenCLArray<btInt2>		m_overlappingPairs;
+
+	//temporary gpu work memory
+	btOpenCLArray<btSortData>	m_gpuSmallSortData;
+	btOpenCLArray<b3SapAabb>	m_gpuSmallSortedAabbs;
+
+
+	b3GpuSapBroadphase(cl_context ctx,cl_device_id device, cl_command_queue  q );
+	virtual ~b3GpuSapBroadphase();
+	
+	void  calculateOverlappingPairs();
+	void  calculateOverlappingPairsHost();
+
+	void init3dSap();
+	void calculateOverlappingPairsHostIncremental3Sap();
+
+	void createProxy(const btVector3& aabbMin,  const btVector3& aabbMax, int userPtr ,short int collisionFilterGroup,short int collisionFilterMask);
+	void createLargeProxy(const btVector3& aabbMin,  const btVector3& aabbMax, int userPtr ,short int collisionFilterGroup,short int collisionFilterMask);
+
+	//call writeAabbsToGpu after done making all changes (createProxy etc)
+	void writeAabbsToGpu();
+
+	cl_mem	getAabbBufferWS();
+	int	getNumOverlap();
+	cl_mem	getOverlappingPairBuffer();
+};
+
+#endif //BT_GPU_SAP_BROADPHASE_H