bt -> b3 rename

add docs

opencl/gpu_narrowphase/host/b3ConvexPolyhedronCL.h

@@ -0,0 +1,64 @@
+#ifndef CONVEX_POLYHEDRON_CL
+#define CONVEX_POLYHEDRON_CL
+
+#include "BulletCommon/btTransform.h"
+
+struct btGpuFace
+{
+	btVector4 m_plane;
+	int m_indexOffset;
+	int m_numIndices;
+};
+
+ATTRIBUTE_ALIGNED16(struct) b3ConvexPolyhedronCL
+{
+	btVector3		m_localCenter;
+	btVector3		m_extents;
+	btVector3		mC;
+	btVector3		mE;
+
+	btScalar		m_radius;
+	int	m_faceOffset;
+	int m_numFaces;
+	int	m_numVertices;
+
+	int m_vertexOffset;
+	int	m_uniqueEdgesOffset;
+	int	m_numUniqueEdges;
+	int m_unused;	
+	
+
+
+	inline void project(const btTransform& trans, const btVector3& dir, const btAlignedObjectArray<btVector3>& vertices, btScalar& min, btScalar& max) const
+	{
+		min = FLT_MAX;
+		max = -FLT_MAX;
+		int numVerts = m_numVertices;
+
+		const btVector3 localDir = trans.getBasis().transpose()*dir;
+		const btVector3 localDi2 = quatRotate(trans.getRotation().inverse(),dir);
+		
+		btScalar offset = trans.getOrigin().dot(dir);
+
+		for(int i=0;i<numVerts;i++)
+		{
+			//btVector3 pt = trans * vertices[m_vertexOffset+i];
+			//btScalar dp = pt.dot(dir);
+			btScalar dp = vertices[m_vertexOffset+i].dot(localDir);
+			//btAssert(dp==dpL);
+			if(dp < min)	min = dp;
+			if(dp > max)	max = dp;
+		}
+		if(min>max)
+		{
+			btScalar tmp = min;
+			min = max;
+			max = tmp;
+		}
+		min += offset;
+		max += offset;
+	}
+
+};
+
+#endif //CONVEX_POLYHEDRON_CL