added basic serialization for several constraints including btPoint2PointConstraint, btHingeConstraint, btSliderConstraint, btConeTwistConstraint, btGeneric6DofConstraint

(no motor support or advanced settings yet)
added btStaticPlaneShape serialization
Added toggle in cmake for BenchmarksDemo to enable/disable graphics rendering

src/BulletCollision/CollisionShapes/btStaticPlaneShape.h

@@ -58,7 +58,42 @@ public:
 	//debugging
 	virtual const char*	getName()const {return "STATICPLANE";}
 
+	virtual	int	calculateSerializeBufferSize() const;
+
+	///fills the dataBuffer and returns the struct name (and 0 on failure)
+	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
+
 
 };
 
+struct	btStaticPlaneShapeData
+{
+	btCollisionShapeData	m_collisionShapeData;
+
+	btVector3FloatData	m_localScaling;
+	btVector3FloatData	m_planeNormal;
+	float			m_planeConstant;
+	char	m_pad[4];
+};
+
+
+SIMD_FORCE_INLINE	int	btStaticPlaneShape::calculateSerializeBufferSize() const
+{
+	return sizeof(btStaticPlaneShapeData);
+}
+
+///fills the dataBuffer and returns the struct name (and 0 on failure)
+SIMD_FORCE_INLINE	const char*	btStaticPlaneShape::serialize(void* dataBuffer, btSerializer* serializer) const
+{
+	btStaticPlaneShapeData* planeData = (btStaticPlaneShapeData*) dataBuffer;
+	btCollisionShape::serialize(&planeData->m_collisionShapeData,serializer);
+
+	m_localScaling.serializeFloat(planeData->m_localScaling);
+	m_planeNormal.serializeFloat(planeData->m_planeNormal);
+	planeData->m_planeConstant = float(m_planeConstant);
+		
+	return "btStaticPlaneShapeData";
+}
+
+
 #endif //STATIC_PLANE_SHAPE_H

src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h

@@ -99,6 +99,20 @@ public:
 	btScalar	 m_maxMotorImpulse;
 	btVector3	 m_accMotorImpulse;
 	
+	
+protected:
+
+	void init();
+
+	void computeConeLimitInfo(const btQuaternion& qCone, // in
+		btScalar& swingAngle, btVector3& vSwingAxis, btScalar& swingLimit); // all outs
+
+	void computeTwistLimitInfo(const btQuaternion& qTwist, // in
+		btScalar& twistAngle, btVector3& vTwistAxis); // all outs
+
+	void adjustSwingAxisToUseEllipseNormal(btVector3& vSwingAxis) const;
+
+
 public:
 
 	btConeTwistConstraint(btRigidBody& rbA,btRigidBody& rbB,const btTransform& rbAFrame, const btTransform& rbBFrame);
@@ -243,17 +257,61 @@ public:
 	btVector3 GetPointForAngle(btScalar fAngleInRadians, btScalar fLength) const;
 
 
+	virtual	int	calculateSerializeBufferSize() const;
 
-protected:
-	void init();
+	///fills the dataBuffer and returns the struct name (and 0 on failure)
+	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
 
-	void computeConeLimitInfo(const btQuaternion& qCone, // in
-		btScalar& swingAngle, btVector3& vSwingAxis, btScalar& swingLimit); // all outs
-
-	void computeTwistLimitInfo(const btQuaternion& qTwist, // in
-		btScalar& twistAngle, btVector3& vTwistAxis); // all outs
-
-	void adjustSwingAxisToUseEllipseNormal(btVector3& vSwingAxis) const;
 };
 
+struct	btConeTwistConstraintData
+{
+	btTypedConstraintData	m_typeConstraintData;
+	btTransformFloatData m_rbAFrame;
+	btTransformFloatData m_rbBFrame;
+
+	//limits
+	float	m_swingSpan1;
+	float	m_swingSpan2;
+	float	m_twistSpan;
+	float	m_limitSoftness;
+	float	m_biasFactor;
+	float	m_relaxationFactor;
+
+	float	m_damping;
+		
+	char m_pad[4];
+
+};
+	
+
+
+SIMD_FORCE_INLINE int	btConeTwistConstraint::calculateSerializeBufferSize() const
+{
+	return sizeof(btConeTwistConstraintData);
+
+}
+
+
+	///fills the dataBuffer and returns the struct name (and 0 on failure)
+SIMD_FORCE_INLINE const char*	btConeTwistConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
+{
+	btConeTwistConstraintData* cone = (btConeTwistConstraintData*) dataBuffer;
+	btTypedConstraint::serialize(&cone->m_typeConstraintData,serializer);
+
+	m_rbAFrame.serializeFloat(cone->m_rbAFrame);
+	m_rbBFrame.serializeFloat(cone->m_rbBFrame);
+	
+	cone->m_swingSpan1 = float(m_swingSpan1);
+	cone->m_swingSpan2 = float(m_swingSpan2);
+	cone->m_twistSpan = float(m_twistSpan);
+	cone->m_limitSoftness = float(m_limitSoftness);
+	cone->m_biasFactor = float(m_biasFactor);
+	cone->m_relaxationFactor = float(m_relaxationFactor);
+	cone->m_damping = float(m_damping);
+
+	return "btConeTwistConstraintData";
+}
+
+
 #endif //CONETWISTCONSTRAINT_H

src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h

@@ -498,7 +498,64 @@ public:
 	// access for UseFrameOffset
 	bool getUseFrameOffset() { return m_useOffsetForConstraintFrame; }
 	void setUseFrameOffset(bool frameOffsetOnOff) { m_useOffsetForConstraintFrame = frameOffsetOnOff; }
+
+	virtual	int	calculateSerializeBufferSize() const;
+
+	///fills the dataBuffer and returns the struct name (and 0 on failure)
+	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
+
+	
 };
 
+struct btGeneric6DofConstraintData
+{
+	btTypedConstraintData	m_typeConstraintData;
+	btTransformFloatData m_rbAFrame; // constraint axii. Assumes z is hinge axis.
+	btTransformFloatData m_rbBFrame;
+	
+	btVector3FloatData	m_linearUpperLimit;
+	btVector3FloatData	m_linearLowerLimit;
+
+	btVector3FloatData	m_angularUpperLimit;
+	btVector3FloatData	m_angularLowerLimit;
+	
+	int	m_useLinearReferenceFrameA;
+	int m_useOffsetForConstraintFrame;
+};
+
+SIMD_FORCE_INLINE	int	btGeneric6DofConstraint::calculateSerializeBufferSize() const
+{
+	return sizeof(btGeneric6DofConstraintData);
+}
+
+	///fills the dataBuffer and returns the struct name (and 0 on failure)
+SIMD_FORCE_INLINE	const char*	btGeneric6DofConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
+{
+
+	btGeneric6DofConstraintData* dof = (btGeneric6DofConstraintData*)dataBuffer;
+	btTypedConstraint::serialize(&dof->m_typeConstraintData,serializer);
+
+	m_frameInA.serializeFloat(dof->m_rbAFrame);
+	m_frameInB.serializeFloat(dof->m_rbBFrame);
+
+		
+	int i;
+	for (i=0;i<3;i++)
+	{
+		dof->m_angularLowerLimit.m_floats[i] =  m_angularLimits[i].m_loLimit;
+		dof->m_angularUpperLimit.m_floats[i] =  m_angularLimits[i].m_hiLimit;
+		dof->m_linearLowerLimit.m_floats[i] = m_linearLimits.m_lowerLimit[i];
+		dof->m_linearUpperLimit.m_floats[i] = m_linearLimits.m_upperLimit[i];
+	}
+	
+	dof->m_useLinearReferenceFrameA = m_useLinearReferenceFrameA? 1 : 0;
+	dof->m_useOffsetForConstraintFrame = m_useOffsetForConstraintFrame ? 1 : 0;
+
+	return "btGeneric6DofConstraintData";
+}
+
+
+
+
 
 #endif //GENERIC_6DOF_CONSTRAINT_H

src/BulletDynamics/ConstraintSolver/btHingeConstraint.h

@@ -24,6 +24,15 @@ subject to the following restrictions:
 
 class btRigidBody;
 
+#ifdef BT_USE_DOUBLE_PRECISION
+#define btHingeConstraintData	btHingeConstraintDoubleData
+#define btHingeConstraintDataName	"btHingeConstraintDoubleData"
+#else
+#define btHingeConstraintData	btHingeConstraintFloatData
+#define btHingeConstraintDataName	"btHingeConstraintFloatData"
+#endif //BT_USE_DOUBLE_PRECISION
+
+
 /// hinge constraint between two rigidbodies each with a pivotpoint that descibes the axis location in local space
 /// axis defines the orientation of the hinge axis
 ATTRIBUTE_ALIGNED16(class) btHingeConstraint : public btTypedConstraint
@@ -222,6 +231,83 @@ public:
 	// access for UseFrameOffset
 	bool getUseFrameOffset() { return m_useOffsetForConstraintFrame; }
 	void setUseFrameOffset(bool frameOffsetOnOff) { m_useOffsetForConstraintFrame = frameOffsetOnOff; }
+
+	virtual	int	calculateSerializeBufferSize() const;
+
+	///fills the dataBuffer and returns the struct name (and 0 on failure)
+	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
+
+
 };
 
+struct	btHingeConstraintDoubleData
+{
+	btTypedConstraintData	m_typeConstraintData;
+	btTransformDoubleData m_rbAFrame; // constraint axii. Assumes z is hinge axis.
+	btTransformDoubleData m_rbBFrame;
+	int			m_useReferenceFrameA;
+	int			m_angularOnly;
+	int			m_enableAngularMotor;
+	float	m_motorTargetVelocity;
+	float	m_maxMotorImpulse;
+
+	float	m_lowerLimit;
+	float	m_upperLimit;
+	float	m_limitSoftness;
+	float	m_biasFactor;
+	float	m_relaxationFactor;
+
+};
+
+struct	btHingeConstraintFloatData
+{
+	btTypedConstraintData	m_typeConstraintData;
+	btTransformFloatData m_rbAFrame; // constraint axii. Assumes z is hinge axis.
+	btTransformFloatData m_rbBFrame;
+	int			m_useReferenceFrameA;
+	int			m_angularOnly;
+	
+	int			m_enableAngularMotor;
+	float	m_motorTargetVelocity;
+	float	m_maxMotorImpulse;
+
+	float	m_lowerLimit;
+	float	m_upperLimit;
+	float	m_limitSoftness;
+	float	m_biasFactor;
+	float	m_relaxationFactor;
+
+};
+
+
+
+SIMD_FORCE_INLINE	int	btHingeConstraint::calculateSerializeBufferSize() const
+{
+	return sizeof(btHingeConstraintData);
+}
+
+	///fills the dataBuffer and returns the struct name (and 0 on failure)
+SIMD_FORCE_INLINE	const char*	btHingeConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
+{
+	btHingeConstraintData* hingeData = (btHingeConstraintData*)dataBuffer;
+	btTypedConstraint::serialize(&hingeData->m_typeConstraintData,serializer);
+
+	m_rbAFrame.serialize(hingeData->m_rbAFrame);
+	m_rbBFrame.serialize(hingeData->m_rbBFrame);
+
+	hingeData->m_angularOnly = m_angularOnly;
+	hingeData->m_enableAngularMotor = m_enableAngularMotor;
+	hingeData->m_maxMotorImpulse = float(m_maxMotorImpulse);
+	hingeData->m_motorTargetVelocity = float(m_motorTargetVelocity);
+	hingeData->m_useReferenceFrameA = m_useReferenceFrameA;
+	
+	hingeData->m_lowerLimit = float(m_lowerLimit);
+	hingeData->m_upperLimit = float(m_upperLimit);
+	hingeData->m_limitSoftness = float(m_limitSoftness);
+	hingeData->m_biasFactor = float(m_biasFactor);
+	hingeData->m_relaxationFactor = float(m_relaxationFactor);
+
+	return btHingeConstraintDataName;
+}
+
 #endif //HINGECONSTRAINT_H

src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h

@@ -22,6 +22,15 @@ subject to the following restrictions:
 
 class btRigidBody;
 
+
+#ifdef BT_USE_DOUBLE_PRECISION
+#define btPoint2PointConstraintData	btPoint2PointConstraintDoubleData
+#define btPoint2PointConstraintDataName	"btPoint2PointConstraintDoubleData"
+#else
+#define btPoint2PointConstraintData	btPoint2PointConstraintFloatData
+#define btPoint2PointConstraintDataName	"btPoint2PointConstraintFloatData"
+#endif //BT_USE_DOUBLE_PRECISION
+
 struct	btConstraintSetting
 {
 	btConstraintSetting()	:
@@ -95,7 +104,45 @@ public:
 		return m_pivotInB;
 	}
 
+	virtual	int	calculateSerializeBufferSize() const;
+
+	///fills the dataBuffer and returns the struct name (and 0 on failure)
+	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
+
 
 };
 
+struct	btPoint2PointConstraintFloatData
+{
+	btTypedConstraintData	m_typeConstraintData;
+	btVector3FloatData	m_pivotInA;
+	btVector3FloatData	m_pivotInB;
+};
+
+struct	btPoint2PointConstraintDoubleData
+{
+	btTypedConstraintData	m_typeConstraintData;
+	btVector3DoubleData	m_pivotInA;
+	btVector3DoubleData	m_pivotInB;
+};
+
+
+SIMD_FORCE_INLINE	int	btPoint2PointConstraint::calculateSerializeBufferSize() const
+{
+	return sizeof(btPoint2PointConstraintData);
+
+}
+
+	///fills the dataBuffer and returns the struct name (and 0 on failure)
+SIMD_FORCE_INLINE	const char*	btPoint2PointConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
+{
+	btPoint2PointConstraintData* p2pData = (btPoint2PointConstraintData*)dataBuffer;
+
+	btTypedConstraint::serialize(&p2pData->m_typeConstraintData,serializer);
+	m_pivotInA.serialize(p2pData->m_pivotInA);
+	m_pivotInB.serialize(p2pData->m_pivotInB);
+
+	return btPoint2PointConstraintDataName;
+}
+
 #endif //POINT2POINTCONSTRAINT_H

src/BulletDynamics/ConstraintSolver/btSliderConstraint.h

@@ -230,8 +230,60 @@ public:
 	// access for UseFrameOffset
 	bool getUseFrameOffset() { return m_useOffsetForConstraintFrame; }
 	void setUseFrameOffset(bool frameOffsetOnOff) { m_useOffsetForConstraintFrame = frameOffsetOnOff; }
+
+	virtual	int	calculateSerializeBufferSize() const;
+
+	///fills the dataBuffer and returns the struct name (and 0 on failure)
+	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
+
+
 };
 
+struct btSliderConstraintData
+{
+	btTypedConstraintData	m_typeConstraintData;
+	btTransformFloatData m_rbAFrame; // constraint axii. Assumes z is hinge axis.
+	btTransformFloatData m_rbBFrame;
+	
+	float	m_linearUpperLimit;
+	float	m_linearLowerLimit;
+
+	float	m_angularUpperLimit;
+	float	m_angularLowerLimit;
+
+	int	m_useLinearReferenceFrameA;
+	int m_useOffsetForConstraintFrame;
+
+};
+
+
+SIMD_FORCE_INLINE		int	btSliderConstraint::calculateSerializeBufferSize() const
+{
+	return sizeof(btSliderConstraintData);
+}
+
+	///fills the dataBuffer and returns the struct name (and 0 on failure)
+SIMD_FORCE_INLINE	const char*	btSliderConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
+{
+
+	btSliderConstraintData* sliderData = (btSliderConstraintData*) dataBuffer;
+	btTypedConstraint::serialize(&sliderData->m_typeConstraintData,serializer);
+
+	m_frameInA.serializeFloat(sliderData->m_rbAFrame);
+	m_frameInB.serializeFloat(sliderData->m_rbBFrame);
+
+	sliderData->m_linearUpperLimit = float(m_upperLinLimit);
+	sliderData->m_linearLowerLimit = float(m_lowerLinLimit);
+
+	sliderData->m_angularUpperLimit = float(m_upperAngLimit);
+	sliderData->m_angularLowerLimit = float(m_lowerAngLimit);
+
+	sliderData->m_useLinearReferenceFrameA = m_useLinearReferenceFrameA;
+	sliderData->m_useOffsetForConstraintFrame = m_useOffsetForConstraintFrame;
+
+	return "btSliderConstraintData";
+}
+
 
 
 #endif //SLIDER_CONSTRAINT_H

src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp

@@ -113,4 +113,37 @@ btScalar btTypedConstraint::getMotorFactor(btScalar pos, btScalar lowLim, btScal
 	return lim_fact;
 }
 
+///fills the dataBuffer and returns the struct name (and 0 on failure)
+const char*	btTypedConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
+{
+	btTypedConstraintData* tcd = (btTypedConstraintData*) dataBuffer;
+
+	tcd->m_rbA = (btRigidBodyData*)&m_rbA;
+	tcd->m_rbB = (btRigidBodyData*)&m_rbB;
+
+	m_appliedAngularImpulseA.serializeFloat(tcd->m_appliedAngularImpulseA);
+	m_appliedAngularImpulseB.serializeFloat(tcd->m_appliedAngularImpulseB);
+	m_appliedLinearImpulse.serializeFloat(tcd->m_appliedLinearImpulse);
+
+	tcd->m_objectType = m_objectType;
+	tcd->m_needsFeedback = m_needsFeedback;
+	tcd->m_userConstraintId =m_userConstraintId;
+	tcd->m_userConstraintType =m_userConstraintType;
+
+	tcd->m_appliedImpulse = float(m_appliedImpulse);
+	tcd->m_dbgDrawSize = float(m_dbgDrawSize );
+
+	tcd->m_disableCollisionsBetweenLinkedBodies = false;
+
+	int i;
+	for (i=0;i<m_rbA.getNumConstraintRefs();i++)
+		if (m_rbA.getConstraintRef(i) == this)
+			tcd->m_disableCollisionsBetweenLinkedBodies = true;
+	for (i=0;i<m_rbB.getNumConstraintRefs();i++)
+		if (m_rbB.getConstraintRef(i) == this)
+			tcd->m_disableCollisionsBetweenLinkedBodies = true;
+
+	return "btTypedConstraintData";
+}
+
 

src/BulletDynamics/ConstraintSolver/btTypedConstraint.h

@@ -1,6 +1,6 @@
 /*
 Bullet Continuous Collision Detection and Physics Library
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2010 Erwin Coumans  http://continuousphysics.com/Bullet/
 
 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.
@@ -21,6 +21,7 @@ class btRigidBody;
 #include "btSolverConstraint.h"
 #include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
 struct  btSolverBody;
+class btSerializer;
 
 enum btTypedConstraintType
 {
@@ -248,6 +249,11 @@ public:
 		return m_dbgDrawSize;
 	}
 	
+	virtual	int	calculateSerializeBufferSize() const;
+
+	///fills the dataBuffer and returns the struct name (and 0 on failure)
+	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
+
 };
 
 // returns angle in range [-SIMD_2_PI, SIMD_2_PI], closest to one of the limits 
@@ -277,4 +283,33 @@ SIMD_FORCE_INLINE btScalar btAdjustAngleToLimits(btScalar angleInRadians, btScal
 }
 
 
+struct	btTypedConstraintData
+{
+	btRigidBodyData		*m_rbA;
+	btRigidBodyData		*m_rbB;
+
+	btVector3FloatData	m_appliedLinearImpulse;
+	btVector3FloatData	m_appliedAngularImpulseA;
+	btVector3FloatData	m_appliedAngularImpulseB;
+
+	int	m_objectType;
+	int	m_userConstraintType;
+	int	m_userConstraintId;
+	int	m_needsFeedback;
+
+	float	m_appliedImpulse;
+	float	m_dbgDrawSize;
+
+	int	m_disableCollisionsBetweenLinkedBodies;
+	char m_pad[4];
+};
+
+SIMD_FORCE_INLINE	int	btTypedConstraint::calculateSerializeBufferSize() const
+{
+	return sizeof(btTypedConstraintData);
+}
+
+
+
+
 #endif //TYPED_CONSTRAINT_H

src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp

@@ -1094,6 +1094,15 @@ void	btDiscreteDynamicsWorld::serializeRigidBodies(btSerializer* serializer)
 			serializer->finalizeChunk(chunk,structType,BT_RIGIDBODY_CODE,colObj);
 		}
 	}
+
+	for (i=0;i<m_constraints.size();i++)
+	{
+		btTypedConstraint* constraint = m_constraints[i];
+		int size = constraint->calculateSerializeBufferSize();
+		btChunk* chunk = serializer->allocate(size,1);
+		const char* structType = constraint->serialize(chunk->m_oldPtr,serializer);
+		serializer->finalizeChunk(chunk,structType,BT_CONSTRAINT_CODE,constraint);
+	}
 }
 
 

src/LinearMath/btSerializer.cpp

@@ -1,5 +1,5 @@
 unsigned char sBulletDNAstr64[]= {
-83,68,78,65,78,65,77,69,92,0,0,0,109,95,115,105,122,101,0,109,
+83,68,78,65,78,65,77,69,-122,0,0,0,109,95,115,105,122,101,0,109,
 95,99,97,112,97,99,105,116,121,0,42,109,95,100,97,116,97,0,109,95,
 99,111,108,108,105,115,105,111,110,83,104,97,112,101,115,0,109,95,99,111,
 108,108,105,115,105,111,110,79,98,106,101,99,116,115,0,109,95,99,111,110,
@@ -9,153 +9,221 @@ unsigned char sBulletDNAstr64[]= {
 109,95,117,115,101,114,80,111,105,110,116,101,114,0,109,95,115,104,97,112,
 101,84,121,112,101,0,109,95,112,97,100,100,105,110,103,91,52,93,0,109,
 95,99,111,108,108,105,115,105,111,110,83,104,97,112,101,68,97,116,97,0,
-109,95,108,111,99,97,108,83,99,97,108,105,110,103,0,109,95,105,109,112,
-108,105,99,105,116,83,104,97,112,101,68,105,109,101,110,115,105,111,110,115,
-0,109,95,99,111,108,108,105,115,105,111,110,77,97,114,103,105,110,0,109,
-95,112,97,100,100,105,110,103,0,109,95,112,111,115,0,109,95,114,97,100,
-105,117,115,0,109,95,99,111,110,118,101,120,73,110,116,101,114,110,97,108,
-83,104,97,112,101,68,97,116,97,0,42,109,95,108,111,99,97,108,80,111,
-115,105,116,105,111,110,65,114,114,97,121,80,116,114,0,109,95,108,111,99,
-97,108,80,111,115,105,116,105,111,110,65,114,114,97,121,83,105,122,101,0,
-109,95,118,97,108,117,101,0,105,110,116,0,42,109,95,118,101,114,116,105,
-99,101,115,51,102,0,42,109,95,118,101,114,116,105,99,101,115,51,100,0,
-42,109,95,105,110,100,105,99,101,115,51,50,0,42,109,95,105,110,100,105,
-99,101,115,49,54,0,109,95,110,117,109,84,114,105,97,110,103,108,101,115,
-0,109,95,110,117,109,86,101,114,116,105,99,101,115,0,42,109,95,109,101,
-115,104,80,97,114,116,115,80,116,114,0,109,95,115,99,97,108,105,110,103,
-0,109,95,110,117,109,77,101,115,104,80,97,114,116,115,0,109,95,109,101,
-115,104,73,110,116,101,114,102,97,99,101,0,109,95,116,114,97,110,115,102,
-111,114,109,0,42,109,95,99,104,105,108,100,83,104,97,112,101,0,109,95,
-99,104,105,108,100,83,104,97,112,101,84,121,112,101,0,109,95,99,104,105,
-108,100,77,97,114,103,105,110,0,42,109,95,99,104,105,108,100,83,104,97,
-112,101,80,116,114,0,109,95,110,117,109,67,104,105,108,100,83,104,97,112,
-101,115,0,109,95,117,112,65,120,105,115,0,42,109,95,117,110,115,99,97,
-108,101,100,80,111,105,110,116,115,70,108,111,97,116,80,116,114,0,42,109,
-95,117,110,115,99,97,108,101,100,80,111,105,110,116,115,68,111,117,98,108,
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+114,101,115,104,111,108,100,0,109,95,97,100,100,105,116,105,111,110,97,108,
+68,97,109,112,105,110,103,0,109,95,110,117,109,67,111,110,115,116,114,97,
+105,110,116,82,111,119,115,0,110,117,98,0,42,109,95,114,98,65,0,42,
+109,95,114,98,66,0,109,95,97,112,112,108,105,101,100,76,105,110,101,97,
+114,73,109,112,117,108,115,101,0,109,95,97,112,112,108,105,101,100,65,110,
+103,117,108,97,114,73,109,112,117,108,115,101,65,0,109,95,97,112,112,108,
+105,101,100,65,110,103,117,108,97,114,73,109,112,117,108,115,101,66,0,109,
+95,111,98,106,101,99,116,84,121,112,101,0,109,95,117,115,101,114,67,111,
+110,115,116,114,97,105,110,116,84,121,112,101,0,109,95,117,115,101,114,67,
+111,110,115,116,114,97,105,110,116,73,100,0,109,95,110,101,101,100,115,70,
+101,101,100,98,97,99,107,0,109,95,97,112,112,108,105,101,100,73,109,112,
+117,108,115,101,0,109,95,100,98,103,68,114,97,119,83,105,122,101,0,109,
+95,100,105,115,97,98,108,101,67,111,108,108,105,115,105,111,110,115,66,101,
+116,119,101,101,110,76,105,110,107,101,100,66,111,100,105,101,115,0,109,95,
+116,121,112,101,67,111,110,115,116,114,97,105,110,116,68,97,116,97,0,109,
+95,112,105,118,111,116,73,110,65,0,109,95,112,105,118,111,116,73,110,66,
+0,109,95,114,98,65,70,114,97,109,101,0,109,95,114,98,66,70,114,97,
+109,101,0,109,95,117,115,101,82,101,102,101,114,101,110,99,101,70,114,97,
+109,101,65,0,109,95,97,110,103,117,108,97,114,79,110,108,121,0,109,95,
+101,110,97,98,108,101,65,110,103,117,108,97,114,77,111,116,111,114,0,109,
+95,109,111,116,111,114,84,97,114,103,101,116,86,101,108,111,99,105,116,121,
+0,109,95,109,97,120,77,111,116,111,114,73,109,112,117,108,115,101,0,109,
+95,108,111,119,101,114,76,105,109,105,116,0,109,95,117,112,112,101,114,76,
+105,109,105,116,0,109,95,108,105,109,105,116,83,111,102,116,110,101,115,115,
+0,109,95,98,105,97,115,70,97,99,116,111,114,0,109,95,114,101,108,97,
+120,97,116,105,111,110,70,97,99,116,111,114,0,109,95,115,119,105,110,103,
+83,112,97,110,49,0,109,95,115,119,105,110,103,83,112,97,110,50,0,109,
+95,116,119,105,115,116,83,112,97,110,0,109,95,100,97,109,112,105,110,103,
+0,109,95,108,105,110,101,97,114,85,112,112,101,114,76,105,109,105,116,0,
+109,95,108,105,110,101,97,114,76,111,119,101,114,76,105,109,105,116,0,109,
+95,97,110,103,117,108,97,114,85,112,112,101,114,76,105,109,105,116,0,109,
+95,97,110,103,117,108,97,114,76,111,119,101,114,76,105,109,105,116,0,109,
+95,117,115,101,76,105,110,101,97,114,82,101,102,101,114,101,110,99,101,70,
+114,97,109,101,65,0,109,95,117,115,101,79,102,102,115,101,116,70,111,114,
+67,111,110,115,116,114,97,105,110,116,70,114,97,109,101,0,84,89,80,69,
+48,0,0,0,99,104,97,114,0,117,99,104,97,114,0,115,104,111,114,116,
+0,117,115,104,111,114,116,0,105,110,116,0,108,111,110,103,0,117,108,111,
+110,103,0,102,108,111,97,116,0,100,111,117,98,108,101,0,118,111,105,100,
+0,80,111,105,110,116,101,114,65,114,114,97,121,0,98,116,80,104,121,115,
+105,99,115,83,121,115,116,101,109,0,76,105,115,116,66,97,115,101,0,98,
+116,86,101,99,116,111,114,51,70,108,111,97,116,68,97,116,97,0,98,116,
+86,101,99,116,111,114,51,68,111,117,98,108,101,68,97,116,97,0,98,116,
+77,97,116,114,105,120,51,120,51,70,108,111,97,116,68,97,116,97,0,98,
+116,77,97,116,114,105,120,51,120,51,68,111,117,98,108,101,68,97,116,97,
+0,98,116,84,114,97,110,115,102,111,114,109,70,108,111,97,116,68,97,116,
+97,0,98,116,84,114,97,110,115,102,111,114,109,68,111,117,98,108,101,68,
+97,116,97,0,98,116,67,111,108,108,105,115,105,111,110,83,104,97,112,101,
+68,97,116,97,0,98,116,83,116,97,116,105,99,80,108,97,110,101,83,104,
+97,112,101,68,97,116,97,0,98,116,67,111,110,118,101,120,73,110,116,101,
+114,110,97,108,83,104,97,112,101,68,97,116,97,0,98,116,80,111,115,105,
+116,105,111,110,65,110,100,82,97,100,105,117,115,0,98,116,77,117,108,116,
+105,83,112,104,101,114,101,83,104,97,112,101,68,97,116,97,0,98,116,73,
+110,116,73,110,100,101,120,68,97,116,97,0,98,116,83,104,111,114,116,73,
+110,116,73,110,100,101,120,68,97,116,97,0,98,116,77,101,115,104,80,97,
+114,116,68,97,116,97,0,98,116,83,116,114,105,100,105,110,103,77,101,115,
+104,73,110,116,101,114,102,97,99,101,68,97,116,97,0,98,116,84,114,105,
+97,110,103,108,101,77,101,115,104,83,104,97,112,101,68,97,116,97,0,98,
+116,67,111,109,112,111,117,110,100,83,104,97,112,101,67,104,105,108,100,68,
+97,116,97,0,98,116,67,111,109,112,111,117,110,100,83,104,97,112,101,68,
+97,116,97,0,98,116,67,121,108,105,110,100,101,114,83,104,97,112,101,68,
+97,116,97,0,98,116,67,97,112,115,117,108,101,83,104,97,112,101,68,97,
+116,97,0,98,116,67,111,110,118,101,120,72,117,108,108,83,104,97,112,101,
+68,97,116,97,0,98,116,67,111,108,108,105,115,105,111,110,79,98,106,101,
+99,116,68,111,117,98,108,101,68,97,116,97,0,98,116,67,111,108,108,105,
+115,105,111,110,79,98,106,101,99,116,70,108,111,97,116,68,97,116,97,0,
+98,116,82,105,103,105,100,66,111,100,121,70,108,111,97,116,68,97,116,97,
+0,98,116,82,105,103,105,100,66,111,100,121,68,111,117,98,108,101,68,97,
+116,97,0,98,116,67,111,110,115,116,114,97,105,110,116,73,110,102,111,49,
+0,98,116,84,121,112,101,100,67,111,110,115,116,114,97,105,110,116,68,97,
+116,97,0,98,116,82,105,103,105,100,66,111,100,121,68,97,116,97,0,98,
+116,80,111,105,110,116,50,80,111,105,110,116,67,111,110,115,116,114,97,105,
+110,116,70,108,111,97,116,68,97,116,97,0,98,116,80,111,105,110,116,50,
+80,111,105,110,116,67,111,110,115,116,114,97,105,110,116,68,111,117,98,108,
+101,68,97,116,97,0,98,116,72,105,110,103,101,67,111,110,115,116,114,97,
+105,110,116,68,111,117,98,108,101,68,97,116,97,0,98,116,72,105,110,103,
+101,67,111,110,115,116,114,97,105,110,116,70,108,111,97,116,68,97,116,97,
+0,98,116,67,111,110,101,84,119,105,115,116,67,111,110,115,116,114,97,105,
+110,116,68,97,116,97,0,98,116,71,101,110,101,114,105,99,54,68,111,102,
+67,111,110,115,116,114,97,105,110,116,68,97,116,97,0,98,116,83,108,105,
+100,101,114,67,111,110,115,116,114,97,105,110,116,68,97,116,97,0,0,0,
+84,76,69,78,1,0,1,0,2,0,2,0,4,0,4,0,4,0,4,0,
+8,0,0,0,16,0,48,0,16,0,16,0,32,0,48,0,96,0,64,0,
+-128,0,16,0,56,0,56,0,20,0,72,0,4,0,4,0,40,0,32,0,
+56,0,80,0,32,0,64,0,64,0,80,0,-40,1,8,1,-16,1,-88,3,
+8,0,96,0,0,0,-128,0,-96,0,-120,1,8,1,0,1,40,1,-8,0,
+83,84,82,67,37,0,0,0,10,0,3,0,4,0,0,0,4,0,1,0,
+9,0,2,0,11,0,3,0,10,0,3,0,10,0,4,0,10,0,5,0,
+12,0,2,0,9,0,6,0,9,0,7,0,13,0,1,0,7,0,8,0,
+14,0,1,0,8,0,8,0,15,0,1,0,13,0,9,0,16,0,1,0,
+14,0,9,0,17,0,2,0,15,0,10,0,13,0,11,0,18,0,2,0,
+16,0,10,0,14,0,11,0,19,0,3,0,9,0,12,0,4,0,13,0,
+0,0,14,0,20,0,5,0,19,0,15,0,13,0,16,0,13,0,17,0,
+7,0,18,0,0,0,19,0,21,0,5,0,19,0,15,0,13,0,16,0,
+13,0,20,0,7,0,21,0,4,0,22,0,22,0,2,0,13,0,23,0,
+7,0,24,0,23,0,4,0,21,0,25,0,22,0,26,0,4,0,27,0,
+0,0,14,0,24,0,1,0,4,0,28,0,25,0,2,0,2,0,29,0,
+2,0,28,0,26,0,6,0,13,0,30,0,14,0,31,0,24,0,32,0,
+25,0,33,0,4,0,34,0,4,0,35,0,27,0,4,0,26,0,36,0,
+13,0,37,0,4,0,38,0,0,0,14,0,28,0,4,0,19,0,15,0,
+27,0,39,0,7,0,21,0,0,0,14,0,29,0,4,0,17,0,40,0,
+19,0,41,0,4,0,42,0,7,0,43,0,30,0,4,0,19,0,15,0,
+29,0,44,0,4,0,45,0,7,0,21,0,31,0,3,0,21,0,25,0,
+4,0,46,0,0,0,14,0,32,0,3,0,21,0,25,0,4,0,46,0,
+0,0,14,0,33,0,5,0,21,0,25,0,13,0,47,0,14,0,48,0,
+4,0,49,0,0,0,50,0,34,0,24,0,9,0,51,0,9,0,52,0,
+19,0,53,0,9,0,54,0,18,0,55,0,18,0,56,0,14,0,57,0,
+14,0,58,0,14,0,59,0,8,0,60,0,8,0,61,0,8,0,62,0,
+8,0,63,0,8,0,64,0,8,0,65,0,8,0,66,0,4,0,67,0,
+4,0,68,0,4,0,69,0,4,0,70,0,4,0,71,0,4,0,72,0,
+4,0,73,0,0,0,14,0,35,0,23,0,9,0,51,0,9,0,52,0,
+19,0,53,0,9,0,54,0,17,0,55,0,17,0,56,0,13,0,57,0,
+13,0,58,0,13,0,59,0,7,0,60,0,7,0,61,0,7,0,62,0,
+7,0,63,0,7,0,64,0,7,0,65,0,7,0,66,0,4,0,67,0,
+4,0,68,0,4,0,69,0,4,0,70,0,4,0,71,0,4,0,72,0,
+4,0,73,0,36,0,21,0,35,0,74,0,15,0,75,0,13,0,76,0,
+13,0,77,0,13,0,78,0,13,0,79,0,13,0,80,0,13,0,81,0,
+13,0,82,0,13,0,83,0,13,0,84,0,7,0,85,0,7,0,86,0,
+7,0,87,0,7,0,88,0,7,0,89,0,7,0,90,0,7,0,91,0,
+7,0,92,0,7,0,93,0,4,0,94,0,37,0,22,0,34,0,74,0,
+16,0,75,0,14,0,76,0,14,0,77,0,14,0,78,0,14,0,79,0,
+14,0,80,0,14,0,81,0,14,0,82,0,14,0,83,0,14,0,84,0,
+8,0,85,0,8,0,86,0,8,0,87,0,8,0,88,0,8,0,89,0,
+8,0,90,0,8,0,91,0,8,0,92,0,8,0,93,0,4,0,94,0,
+0,0,14,0,38,0,2,0,4,0,95,0,4,0,96,0,39,0,13,0,
+40,0,97,0,40,0,98,0,13,0,99,0,13,0,100,0,13,0,101,0,
+4,0,102,0,4,0,103,0,4,0,104,0,4,0,105,0,7,0,106,0,
+7,0,107,0,4,0,108,0,0,0,19,0,41,0,3,0,39,0,109,0,
+13,0,110,0,13,0,111,0,42,0,3,0,39,0,109,0,14,0,110,0,
+14,0,111,0,43,0,13,0,39,0,109,0,18,0,112,0,18,0,113,0,
+4,0,114,0,4,0,115,0,4,0,116,0,7,0,117,0,7,0,118,0,
+7,0,119,0,7,0,120,0,7,0,121,0,7,0,122,0,7,0,123,0,
+44,0,13,0,39,0,109,0,17,0,112,0,17,0,113,0,4,0,114,0,
+4,0,115,0,4,0,116,0,7,0,117,0,7,0,118,0,7,0,119,0,
+7,0,120,0,7,0,121,0,7,0,122,0,7,0,123,0,45,0,11,0,
+39,0,109,0,17,0,112,0,17,0,113,0,7,0,124,0,7,0,125,0,
+7,0,126,0,7,0,121,0,7,0,122,0,7,0,123,0,7,0,127,0,
+0,0,19,0,46,0,9,0,39,0,109,0,17,0,112,0,17,0,113,0,
+13,0,-128,0,13,0,-127,0,13,0,-126,0,13,0,-125,0,4,0,-124,0,
+4,0,-123,0,47,0,9,0,39,0,109,0,17,0,112,0,17,0,113,0,
+7,0,-128,0,7,0,-127,0,7,0,-126,0,7,0,-125,0,4,0,-124,0,
+4,0,-123,0,};
 int sBulletDNAlen64= sizeof(sBulletDNAstr64);
-
 unsigned char sBulletDNAstr[]= {
-83,68,78,65,78,65,77,69,92,0,0,0,109,95,115,105,122,101,0,109,
+83,68,78,65,78,65,77,69,-122,0,0,0,109,95,115,105,122,101,0,109,
 95,99,97,112,97,99,105,116,121,0,42,109,95,100,97,116,97,0,109,95,
 99,111,108,108,105,115,105,111,110,83,104,97,112,101,115,0,109,95,99,111,
 108,108,105,115,105,111,110,79,98,106,101,99,116,115,0,109,95,99,111,110,
@@ -165,147 +233,216 @@ unsigned char sBulletDNAstr[]= {
 109,95,117,115,101,114,80,111,105,110,116,101,114,0,109,95,115,104,97,112,
 101,84,121,112,101,0,109,95,112,97,100,100,105,110,103,91,52,93,0,109,
 95,99,111,108,108,105,115,105,111,110,83,104,97,112,101,68,97,116,97,0,
-109,95,108,111,99,97,108,83,99,97,108,105,110,103,0,109,95,105,109,112,
-108,105,99,105,116,83,104,97,112,101,68,105,109,101,110,115,105,111,110,115,
-0,109,95,99,111,108,108,105,115,105,111,110,77,97,114,103,105,110,0,109,
-95,112,97,100,100,105,110,103,0,109,95,112,111,115,0,109,95,114,97,100,
-105,117,115,0,109,95,99,111,110,118,101,120,73,110,116,101,114,110,97,108,
-83,104,97,112,101,68,97,116,97,0,42,109,95,108,111,99,97,108,80,111,
-115,105,116,105,111,110,65,114,114,97,121,80,116,114,0,109,95,108,111,99,
-97,108,80,111,115,105,116,105,111,110,65,114,114,97,121,83,105,122,101,0,
-109,95,118,97,108,117,101,0,105,110,116,0,42,109,95,118,101,114,116,105,
-99,101,115,51,102,0,42,109,95,118,101,114,116,105,99,101,115,51,100,0,
-42,109,95,105,110,100,105,99,101,115,51,50,0,42,109,95,105,110,100,105,
-99,101,115,49,54,0,109,95,110,117,109,84,114,105,97,110,103,108,101,115,
-0,109,95,110,117,109,86,101,114,116,105,99,101,115,0,42,109,95,109,101,
-115,104,80,97,114,116,115,80,116,114,0,109,95,115,99,97,108,105,110,103,
-0,109,95,110,117,109,77,101,115,104,80,97,114,116,115,0,109,95,109,101,
-115,104,73,110,116,101,114,102,97,99,101,0,109,95,116,114,97,110,115,102,
-111,114,109,0,42,109,95,99,104,105,108,100,83,104,97,112,101,0,109,95,
-99,104,105,108,100,83,104,97,112,101,84,121,112,101,0,109,95,99,104,105,
-108,100,77,97,114,103,105,110,0,42,109,95,99,104,105,108,100,83,104,97,
-112,101,80,116,114,0,109,95,110,117,109,67,104,105,108,100,83,104,97,112,
-101,115,0,109,95,117,112,65,120,105,115,0,42,109,95,117,110,115,99,97,
-108,101,100,80,111,105,110,116,115,70,108,111,97,116,80,116,114,0,42,109,
-95,117,110,115,99,97,108,101,100,80,111,105,110,116,115,68,111,117,98,108,
-101,80,116,114,0,109,95,110,117,109,85,110,115,99,97,108,101,100,80,111,
-105,110,116,115,0,109,95,112,97,100,100,105,110,103,51,91,52,93,0,42,
-109,95,98,114,111,97,100,112,104,97,115,101,72,97,110,100,108,101,0,42,
-109,95,99,111,108,108,105,115,105,111,110,83,104,97,112,101,0,42,109,95,
-114,111,111,116,67,111,108,108,105,115,105,111,110,83,104,97,112,101,0,42,
-109,95,117,115,101,114,79,98,106,101,99,116,80,111,105,110,116,101,114,0,
-109,95,119,111,114,108,100,84,114,97,110,115,102,111,114,109,0,109,95,105,
-110,116,101,114,112,111,108,97,116,105,111,110,87,111,114,108,100,84,114,97,
-110,115,102,111,114,109,0,109,95,105,110,116,101,114,112,111,108,97,116,105,
-111,110,76,105,110,101,97,114,86,101,108,111,99,105,116,121,0,109,95,105,
-110,116,101,114,112,111,108,97,116,105,111,110,65,110,103,117,108,97,114,86,
-101,108,111,99,105,116,121,0,109,95,97,110,105,115,111,116,114,111,112,105,
-99,70,114,105,99,116,105,111,110,0,109,95,99,111,110,116,97,99,116,80,
-114,111,99,101,115,115,105,110,103,84,104,114,101,115,104,111,108,100,0,109,
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+48,0,76,0,24,0,60,0,60,0,68,0,-56,1,-8,0,-32,1,-104,3,
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+7,0,119,0,7,0,120,0,7,0,121,0,7,0,122,0,7,0,123,0,
+44,0,13,0,39,0,109,0,17,0,112,0,17,0,113,0,4,0,114,0,
+4,0,115,0,4,0,116,0,7,0,117,0,7,0,118,0,7,0,119,0,
+7,0,120,0,7,0,121,0,7,0,122,0,7,0,123,0,45,0,11,0,
+39,0,109,0,17,0,112,0,17,0,113,0,7,0,124,0,7,0,125,0,
+7,0,126,0,7,0,121,0,7,0,122,0,7,0,123,0,7,0,127,0,
+0,0,19,0,46,0,9,0,39,0,109,0,17,0,112,0,17,0,113,0,
+13,0,-128,0,13,0,-127,0,13,0,-126,0,13,0,-125,0,4,0,-124,0,
+4,0,-123,0,47,0,9,0,39,0,109,0,17,0,112,0,17,0,113,0,
+7,0,-128,0,7,0,-127,0,7,0,-126,0,7,0,-125,0,4,0,-124,0,
+4,0,-123,0,};
 int sBulletDNAlen= sizeof(sBulletDNAstr);

src/LinearMath/btSerializer.h

@@ -72,6 +72,7 @@ public:
 
 #define BT_COLLISIONOBJECT_CODE MAKE_ID('C','O','B','J')
 #define BT_RIGIDBODY_CODE		MAKE_ID('R','B','D','Y')
+#define BT_CONSTRAINT_CODE		MAKE_ID('C','O','N','S')
 #define BT_BOXSHAPE_CODE		MAKE_ID('B','O','X','S')
 #define BT_SHAPE_CODE			MAKE_ID('S','H','A','P')
 #define BT_ARRAY_CODE			MAKE_ID('A','R','A','Y')
@@ -268,18 +269,18 @@ public:
 
 			if (VOID_IS_8)
 			{
-//#if _WIN64
+#if _WIN64
 				initDNA((const char*)sBulletDNAstr64,sBulletDNAlen64);
-//#else
-//				btAssert(0);
-//#endif
+#else
+				btAssert(0);
+#endif
 			} else
 			{
-//#ifndef _WIN64
+#ifndef _WIN64
 				initDNA((const char*)sBulletDNAstr,sBulletDNAlen);
-//#else
-//				btAssert(0);
-//#endif
+#else
+				btAssert(0);
+#endif
 			}
 
 		}