bt -> b3 rename

add docs

opencl/gpu_rigidbody/host/b3GpuBatchingPgsSolver.h

@@ -0,0 +1,40 @@
+
+#ifndef BT_GPU_BATCHING_PGS_SOLVER_H
+#define BT_GPU_BATCHING_PGS_SOLVER_H
+
+#include "../../basic_initialize/b3OpenCLInclude.h"
+#include "../../parallel_primitives/host/btOpenCLArray.h"
+#include "../../gpu_narrowphase/host/b3RigidBodyCL.h"
+#include "../../gpu_narrowphase/host/b3Contact4.h"
+#include "b3GpuConstraint4.h"
+
+class b3GpuBatchingPgsSolver
+{
+protected:
+
+	
+
+	struct btGpuBatchingPgsSolverInternalData*		m_data;
+
+	void batchContacts( btOpenCLArray<b3Contact4>* contacts, int nContacts, btOpenCLArray<unsigned int>* n, btOpenCLArray<unsigned int>* offsets, int staticIdx );
+	
+	inline int sortConstraintByBatch( b3Contact4* cs, int n, int simdWidth , int staticIdx, int numBodies);
+	inline int sortConstraintByBatch2( b3Contact4* cs, int n, int simdWidth , int staticIdx, int numBodies);
+	inline int sortConstraintByBatch3( b3Contact4* cs, int n, int simdWidth , int staticIdx, int numBodies);
+	
+
+
+	void solveContactConstraint(  const btOpenCLArray<b3RigidBodyCL>* bodyBuf, const btOpenCLArray<btInertiaCL>* shapeBuf, 
+			btOpenCLArray<b3GpuConstraint4>* constraint, void* additionalData, int n ,int maxNumBatches, int numIterations);
+
+public:
+	
+	b3GpuBatchingPgsSolver(cl_context ctx,cl_device_id device, cl_command_queue  q,int pairCapacity);
+	virtual ~b3GpuBatchingPgsSolver();
+
+	void solveContacts(int numBodies, cl_mem bodyBuf, cl_mem inertiaBuf, int numContacts, cl_mem contactBuf, const struct b3Config& config);
+
+};
+
+#endif //BT_GPU_BATCHING_PGS_SOLVER_H
+