Binary serialization in the .bullet file format (work-in-progress)

src/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp

@@ -830,7 +830,7 @@ unsigned int btQuantizedBvh::getAlignmentSerializationPadding()
 	return 0;//BVH_ALIGNMENT_BLOCKS * BVH_ALIGNMENT;
 }
 
-unsigned btQuantizedBvh::calculateSerializeBufferSize()
+unsigned btQuantizedBvh::calculateSerializeBufferSize() const
 {
 	unsigned baseSize = sizeof(btQuantizedBvh) + getAlignmentSerializationPadding();
 	baseSize += sizeof(btBvhSubtreeInfo) * m_subtreeHeaderCount;
@@ -841,7 +841,7 @@ unsigned btQuantizedBvh::calculateSerializeBufferSize()
 	return baseSize + m_curNodeIndex * sizeof(btOptimizedBvhNode);
 }
 
-bool btQuantizedBvh::serialize(void *o_alignedDataBuffer, unsigned /*i_dataBufferSize */, bool i_swapEndian)
+bool btQuantizedBvh::serialize(void *o_alignedDataBuffer, unsigned /*i_dataBufferSize */, bool i_swapEndian) const
 {
 	btAssert(m_subtreeHeaderCount == m_SubtreeHeaders.size());
 	m_subtreeHeaderCount = m_SubtreeHeaders.size();

src/BulletCollision/BroadphaseCollision/btQuantizedBvh.h

@@ -190,7 +190,7 @@ protected:
 	BvhSubtreeInfoArray		m_SubtreeHeaders;
 
 	//This is only used for serialization so we don't have to add serialization directly to btAlignedObjectArray
-	int m_subtreeHeaderCount;
+	mutable int m_subtreeHeaderCount;
 
 	
 
@@ -445,10 +445,10 @@ public:
 
 
 	/////Calculate space needed to store BVH for serialization
-	unsigned calculateSerializeBufferSize();
+	unsigned calculateSerializeBufferSize() const;
 
 	/// Data buffer MUST be 16 byte aligned
-	virtual bool serialize(void *o_alignedDataBuffer, unsigned i_dataBufferSize, bool i_swapEndian);
+	virtual bool serialize(void *o_alignedDataBuffer, unsigned i_dataBufferSize, bool i_swapEndian) const;
 
 	///deSerializeInPlace loads and initializes a BVH from a buffer in memory 'in place'
 	static btQuantizedBvh *deSerializeInPlace(void *i_alignedDataBuffer, unsigned int i_dataBufferSize, bool i_swapEndian);

src/BulletCollision/CollisionDispatch/btCollisionObject.h

@@ -27,11 +27,11 @@ subject to the following restrictions:
 
 struct	btBroadphaseProxy;
 class	btCollisionShape;
+struct btCollisionShapeData;
 #include "LinearMath/btMotionState.h"
 #include "LinearMath/btAlignedAllocator.h"
 #include "LinearMath/btAlignedObjectArray.h"
 
-
 typedef btAlignedObjectArray<class btCollisionObject*> btCollisionObjectArray;
 
 
@@ -54,7 +54,7 @@ protected:
 	btVector3	m_interpolationAngularVelocity;
 	
 	btVector3	m_anisotropicFriction;
-	bool				m_hasAnisotropicFriction;
+	int			m_hasAnisotropicFriction;
 	btScalar	m_contactProcessingThreshold;	
 
 	btBroadphaseProxy*		m_broadphaseHandle;
@@ -76,13 +76,13 @@ protected:
 	btScalar		m_friction;
 	btScalar		m_restitution;
 
-	///users can point to their objects, m_userPointer is not used by Bullet, see setUserPointer/getUserPointer
-	void*			m_userObjectPointer;
-
 	///m_internalType is reserved to distinguish Bullet's btCollisionObject, btRigidBody, btSoftBody, btGhostObject etc.
 	///do not assign your own m_internalType unless you write a new dynamics object class.
 	int				m_internalType;
 
+	///users can point to their objects, m_userPointer is not used by Bullet, see setUserPointer/getUserPointer
+	void*			m_userObjectPointer;
+
 	///time of impact calculation
 	btScalar		m_hitFraction; 
 	
@@ -93,9 +93,7 @@ protected:
 	btScalar		m_ccdMotionThreshold;
 	
 	/// If some object should have elaborate collision filtering by sub-classes
-	bool			m_checkCollideWith;
-
-	char	m_pad[7];
+	int			m_checkCollideWith;
 
 	virtual bool	checkCollideWithOverride(btCollisionObject* /* co */)
 	{
@@ -143,7 +141,7 @@ public:
 	}
 	bool	hasAnisotropicFriction() const
 	{
-		return m_hasAnisotropicFriction;
+		return m_hasAnisotropicFriction!=0;
 	}
 
 	///the constraint solver can discard solving contacts, if the distance is above this threshold. 0 by default.
@@ -416,6 +414,85 @@ public:
 
 		return true;
 	}
+
+	virtual	int	calculateSerializeBufferSize()	const;
+
+	///fills the dataBuffer and returns the struct name (and 0 on failure)
+	virtual	const char*	serialize(void* dataBuffer) const;
+
+
 };
 
+///using offsetof for m_vtablePadding might break some compilers, in that case define m_vtablePadding manually
+
+///for serialization
+struct	btCollisionObjectData
+{
+	btTransformData			m_worldTransform;
+	btTransformData			m_interpolationWorldTransform;
+	btVector3Data			m_interpolationLinearVelocity;
+	btVector3Data			m_interpolationAngularVelocity;
+	btVector3Data			m_anisotropicFriction;
+	int						m_hasAnisotropicFriction;
+	btScalar				m_contactProcessingThreshold;	
+	void					*m_broadphaseHandle;
+	void					*m_collisionShape;
+	btCollisionShapeData	*m_rootCollisionShape;
+	int						m_collisionFlags;
+	int						m_islandTag1;
+	int						m_companionId;
+	int						m_activationState1;
+	btScalar				m_deactivationTime;
+	btScalar				m_friction;
+	btScalar				m_restitution;
+	int						m_internalType;
+	void					*m_userObjectPointer;
+	btScalar				m_hitFraction; 
+	btScalar				m_ccdSweptSphereRadius;
+	btScalar				m_ccdMotionThreshold;
+	int						m_checkCollideWith;
+};
+
+
+SIMD_FORCE_INLINE	int	btCollisionObject::calculateSerializeBufferSize() const
+{
+	return sizeof(btCollisionObjectData);
+}
+
+SIMD_FORCE_INLINE	const char* btCollisionObject::serialize(void* dataBuffer) const
+{
+
+	btCollisionObjectData* dataOut = (btCollisionObjectData*)dataBuffer;
+
+	m_worldTransform.serialize(dataOut->m_worldTransform);
+	m_interpolationWorldTransform.serialize(dataOut->m_interpolationWorldTransform);
+	m_interpolationLinearVelocity.serialize(dataOut->m_interpolationLinearVelocity);
+	m_interpolationAngularVelocity.serialize(dataOut->m_interpolationAngularVelocity);
+	m_anisotropicFriction.serialize(dataOut->m_anisotropicFriction);
+	dataOut->m_hasAnisotropicFriction = m_hasAnisotropicFriction;
+	dataOut->m_contactProcessingThreshold = m_contactProcessingThreshold;
+	dataOut->m_broadphaseHandle = 0;
+	dataOut->m_collisionShape = m_collisionShape; //@todo
+	dataOut->m_rootCollisionShape = 0;//@todo
+	dataOut->m_collisionFlags = m_collisionFlags;
+	dataOut->m_islandTag1 = m_islandTag1;
+	dataOut->m_companionId = m_companionId;
+	dataOut->m_activationState1 = m_activationState1;
+	dataOut->m_activationState1 = m_activationState1;
+	dataOut->m_deactivationTime = m_deactivationTime;
+	dataOut->m_friction = m_friction;
+	dataOut->m_restitution = m_restitution;
+	dataOut->m_internalType = m_internalType;
+	dataOut->m_userObjectPointer = m_userObjectPointer;
+	dataOut->m_hitFraction = m_hitFraction;
+	dataOut->m_ccdSweptSphereRadius = m_ccdSweptSphereRadius;
+	dataOut->m_ccdMotionThreshold = m_ccdMotionThreshold;
+	dataOut->m_ccdMotionThreshold = m_ccdMotionThreshold;
+	dataOut->m_checkCollideWith = m_checkCollideWith;
+
+	return "btCollisionObjectData";
+}
+
+
+
 #endif //COLLISION_OBJECT_H

src/BulletCollision/CollisionShapes/btBoxShape.h

@@ -310,8 +310,41 @@ public:
 		}
 	}
 
+	virtual	int	calculateSerializeBufferSize();
+
+	///fills the dataBuffer and returns the struct name (and 0 on failure)
+	virtual	const char*	serialize(void* dataBuffer) const;
+
+	
+	
+
 };
 
+
+struct	btBoxShapeData
+{
+	btVector3Data	m_halfExtents;
+	btVector3Data	m_localScaling;
+};
+
+
+
+SIMD_FORCE_INLINE	int	btBoxShape::calculateSerializeBufferSize()
+{
+	return sizeof(btBoxShapeData);
+}
+
+///fills the dataBuffer and returns the struct name (and 0 on failure)
+SIMD_FORCE_INLINE	const char*	btBoxShape::serialize(void* dataBuffer) const
+{
+	btBoxShapeData* boxData = (btBoxShapeData*) dataBuffer;
+
+	m_implicitShapeDimensions.serialize(boxData->m_halfExtents);
+	m_localScaling.serialize(boxData->m_localScaling);
+	return "btBoxShapeData";
+}
+
+
 #endif //OBB_BOX_MINKOWSKI_H
 
 

src/BulletCollision/CollisionShapes/btCollisionShape.h

@@ -21,6 +21,8 @@ subject to the following restrictions:
 #include "LinearMath/btMatrix3x3.h"
 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h" //for the shape types
 
+
+
 ///The btCollisionShape class provides an interface for collision shapes that can be shared among btCollisionObjects.
 class btCollisionShape
 {
@@ -113,5 +115,14 @@ public:
 
 };	
 
+///for serialization
+struct	btCollisionShapeData
+{
+	void	*m_userPointer;
+	int		m_shapeType;
+	char	m_padding[4];
+};
+
+
 #endif //COLLISION_SHAPE_H
 

src/BulletCollision/CollisionShapes/btOptimizedBvh.h

@@ -47,7 +47,7 @@ public:
 	void	updateBvhNodes(btStridingMeshInterface* meshInterface,int firstNode,int endNode,int index);
 
 	/// Data buffer MUST be 16 byte aligned
-	virtual bool serialize(void *o_alignedDataBuffer, unsigned i_dataBufferSize, bool i_swapEndian)
+	virtual bool serialize(void *o_alignedDataBuffer, unsigned i_dataBufferSize, bool i_swapEndian) const
 	{
 		return btQuantizedBvh::serialize(o_alignedDataBuffer,i_dataBufferSize,i_swapEndian);
 

src/LinearMath/CMakeLists.txt

@@ -29,6 +29,7 @@ SET(LinearMath_HDRS
 	btQuickprof.h
 	btRandom.h
 	btScalar.h
+	btSerializer.h
 		btStackAlloc.h
 		btTransform.h
 		btTransformUtil.h

src/LinearMath/btAlignedObjectArray.h

@@ -138,6 +138,16 @@ class btAlignedObjectArray
 			return m_size;
 		}
 		
+		SIMD_FORCE_INLINE const T& at(int n) const
+		{
+			return m_data[n];
+		}
+
+		SIMD_FORCE_INLINE T& at(int n)
+		{
+			return m_data[n];
+		}
+
 		SIMD_FORCE_INLINE const T& operator[](int n) const
 		{
 			return m_data[n];

src/LinearMath/btDefaultMotionState.h

@@ -1,6 +1,8 @@
 #ifndef DEFAULT_MOTION_STATE_H
 #define DEFAULT_MOTION_STATE_H
 
+#include "btMotionState.h"
+
 ///The btDefaultMotionState provides a common implementation to synchronize world transforms with offsets.
 struct	btDefaultMotionState : public btMotionState
 {

src/LinearMath/btHashMap.h

@@ -95,14 +95,12 @@ public:
 	
 };
 
-
-template <class Value>
-class btHashKeyPtr
+class btHashInt
 {
 	int	m_uid;
 public:
 
-	btHashKeyPtr(int uid)
+	btHashInt(int uid)
 		:m_uid(uid)
 	{
 	}
@@ -112,11 +110,10 @@ public:
 		return m_uid;
 	}
 
-	bool equals(const btHashKeyPtr<Value>& other) const
+	bool equals(const btHashInt& other) const
 	{
 		return getUid1() == other.getUid1();
 	}
-
 	//to our success
 	SIMD_FORCE_INLINE	unsigned int getHash()const
 	{
@@ -130,6 +127,46 @@ public:
 		key ^=  (key >> 16);
 		return key;
 	}
+};
+
+class btHashKeyPtr
+{
+	void*	m_pointer;
+public:
+
+	btHashKeyPtr(void* ptr)
+		:m_pointer(ptr)
+	{
+	}
+
+	const void*	getPointer() const
+	{
+		return m_pointer;
+	}
+
+	bool equals(const btHashKeyPtr& other) const
+	{
+		return getPointer() == other.getPointer();
+	}
+
+	//to our success
+	SIMD_FORCE_INLINE	unsigned int getHash()const
+	{
+		const bool VOID_IS_8 = ((sizeof(void*)==8));
+		int* intPtr = (int*)&m_pointer;
+
+		int key = VOID_IS_8? intPtr[0]+intPtr[1] : intPtr[0];
+	
+		// Thomas Wang's hash
+		key += ~(key << 15);
+		key ^=  (key >> 10);
+		key +=  (key << 3);
+		key ^=  (key >> 6);
+		key += ~(key << 11);
+		key ^=  (key >> 16);
+
+		return key;
+	}
 
 	
 };

src/LinearMath/btMatrix3x3.h

@@ -13,10 +13,8 @@ subject to the following restrictions:
 */
 
 
-#ifndef btMatrix3x3_H
-#define btMatrix3x3_H
-
-#include "btScalar.h"
+#ifndef	BT_MATRIX3x3_H
+#define BT_MATRIX3x3_H
 
 #include "btVector3.h"
 #include "btQuaternion.h"
@@ -26,6 +24,10 @@ subject to the following restrictions:
 /**@brief The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with btQuaternion, btTransform and btVector3.
 * Make sure to only include a pure orthogonal matrix without scaling. */
 class btMatrix3x3 {
+
+	///Data storage for the matrix, each vector is a row of the matrix
+	btVector3 m_el[3];
+
 public:
 	/** @brief No initializaion constructor */
 	btMatrix3x3 () {}
@@ -290,7 +292,13 @@ class btMatrix3x3 {
 	* @param solution_number Which solution of two possible solutions ( 1 or 2) are possible values*/	
 	void getEulerZYX(btScalar& yaw, btScalar& pitch, btScalar& roll, unsigned int solution_number = 1) const
 	{
-    struct Euler{btScalar yaw, pitch, roll;};
+		struct Euler
+		{
+			btScalar yaw;
+			btScalar pitch;
+			btScalar roll;
+		};
+
 		Euler euler_out;
 		Euler euler_out2; //second solution
 		//get the pointer to the raw data
@@ -475,7 +483,7 @@ class btMatrix3x3 {
 
 
 
-	protected:
+
 	/**@brief Calculate the matrix cofactor 
 	* @param r1 The first row to use for calculating the cofactor
 	* @param c1 The first column to use for calculating the cofactor
@@ -487,10 +495,14 @@ class btMatrix3x3 {
 	{
 		return m_el[r1][c1] * m_el[r2][c2] - m_el[r1][c2] * m_el[r2][c1];
 	}
-  ///Data storage for the matrix, each vector is a row of the matrix
-		btVector3 m_el[3];
+
+	virtual	void	serialize(struct	btMatrix3x3Data& dataOut) const;
+
+	virtual	void	deSerialize(const struct	btMatrix3x3Data& dataIn);
+
 };
 
+
 SIMD_FORCE_INLINE btMatrix3x3& 
 btMatrix3x3::operator*=(const btMatrix3x3& m)
 {
@@ -615,4 +627,24 @@ SIMD_FORCE_INLINE bool operator==(const btMatrix3x3& m1, const btMatrix3x3& m2)
 		m1[0][2] == m2[0][2] && m1[1][2] == m2[1][2] && m1[2][2] == m2[2][2] );
 }
 
-#endif
+///for serialization
+struct	btMatrix3x3Data
+{
+	btVector3Data m_el[3];
+};
+
+	
+SIMD_FORCE_INLINE	void	btMatrix3x3::serialize(struct	btMatrix3x3Data& dataOut) const
+{
+	for (int i=0;i<3;i++)
+		m_el[i].serialize(dataOut.m_el[i]);
+}
+
+SIMD_FORCE_INLINE	void	btMatrix3x3::deSerialize(const struct	btMatrix3x3Data& dataIn)
+{
+	for (int i=0;i<3;i++)
+		m_el[i].deSerialize(dataIn.m_el[i]);
+}
+
+#endif //BT_MATRIX3x3_H
+

src/LinearMath/btSerializer.h

@@ -0,0 +1,288 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2009 Erwin Coumans  http://bulletphysics.org
+
+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.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#ifndef BT_SERIALIZER_H
+#define BT_SERIALIZER_H
+
+#include "btScalar.h" // has definitions like SIMD_FORCE_INLINE
+#include "btStackAlloc.h"
+
+class btChunk
+{
+public:
+	int		m_chunkCode;
+	int		m_length;
+	void	*m_oldPtr;
+	int		m_dna_nr;
+	int		m_number;
+};
+
+
+///Allow to serialize data in a chunk format
+class btSerializer
+{
+	public:
+
+		virtual ~btSerializer() {}
+
+		virtual	btChunk*	allocate(size_t size,int numElements) = 0;
+
+};
+
+
+#define BT_HEADER_LENGTH 12
+
+
+class btDefaultSerializer
+{
+public:
+
+	btAlignedObjectArray<char*>			mTypes;
+	btAlignedObjectArray<short*>			mStructs;
+	btAlignedObjectArray<short>			mTlens;
+	btHashMap<btHashInt, int>			mStructReverse;
+	btHashMap<btHashString,int>	mTypeLookup;
+
+	btAlignedObjectArray<btChunk*>	m_chunkPtrs;
+
+	int					m_totalSize;
+	unsigned char*		m_buffer;
+	int					m_bufferPointer;
+	
+	
+	
+
+	void*		m_dna;
+	int					m_dnaLength;
+
+
+		btDefaultSerializer(int totalSize)
+			:m_totalSize(totalSize),
+			m_bufferPointer(0)
+//			m_dna(0),
+//			m_dnaLength(0)
+		{
+			m_buffer = (unsigned char*)btAlignedAlloc(16,totalSize);
+			m_bufferPointer += BT_HEADER_LENGTH;
+
+			memcpy(m_buffer, "BULLET ", 7);
+			int endian= 1;
+			endian= ((char*)&endian)[0];
+
+			if (endian)
+			{
+				m_buffer[7] = '_';
+			} else
+			{
+				m_buffer[7] = '-';
+			}
+			if (sizeof(void*)==8)
+			{
+				m_buffer[8]='V';
+			} else
+			{
+				m_buffer[8]='v';
+			}
+
+			m_buffer[9] = '2';
+			m_buffer[10] = '7';
+			m_buffer[11] = '5';
+
+			
+
+		}
+
+		virtual ~btDefaultSerializer() 
+		{
+			btAlignedFree(m_buffer);
+		}
+
+		int getReverseType(const char *type) const
+		{
+
+			btHashString key(type);
+			const int* valuePtr = mTypeLookup.find(key);
+			if (valuePtr)
+				return *valuePtr;
+			
+			return -1;
+		}
+
+		void	writeDNA()
+		{
+			unsigned char* dnaTarget = m_buffer+m_bufferPointer;
+			memcpy(dnaTarget,m_dna,m_dnaLength);
+			m_bufferPointer += m_dnaLength;
+		}
+
+		virtual	btChunk*	allocate(size_t size, int numElements)
+		{
+
+			unsigned char* ptr = m_buffer+m_bufferPointer;
+			m_bufferPointer += size*numElements+sizeof(btChunk);
+
+			unsigned char* data = ptr + sizeof(btChunk);
+			
+			btChunk* chunk = (btChunk*)ptr;
+			chunk->m_chunkCode = 0;
+			chunk->m_oldPtr = data;
+			chunk->m_length = size;
+			chunk->m_number = numElements;
+			
+			m_chunkPtrs.push_back(chunk);
+
+			return chunk;
+		}
+
+
+		void initDNA(const char* bdna,int dnalen)
+		{
+
+			m_dna = btAlignedAlloc(dnalen,16);
+			memcpy(m_dna,bdna,dnalen);
+			m_dnaLength = dnalen;
+
+			int *intPtr=0;short *shtPtr=0;
+			char *cp = 0;int dataLen =0;long nr=0;
+			intPtr = (int*)bdna;
+
+			/*
+				SDNA (4 bytes) (magic number)
+				NAME (4 bytes)
+				<nr> (4 bytes) amount of names (int)
+				<string>
+				<string>
+			*/
+
+			if (strncmp((const char*)bdna, "SDNA", 4)==0)
+			{
+				// skip ++ NAME
+				intPtr++; intPtr++;
+			}
+
+			// Parse names
+			
+			dataLen = *intPtr;
+			intPtr++;
+
+			cp = (char*)intPtr;
+			for (int i=0; i<dataLen; i++)
+			{
+				
+				while (*cp)cp++;
+				cp++;
+			}
+			{
+				nr= (long)cp;
+				long mask=3;
+				nr= ((nr+3)&~3)-nr;
+				while (nr--)
+				{
+					cp++;
+				}
+			}
+
+			/*
+				TYPE (4 bytes)
+				<nr> amount of types (int)
+				<string>
+				<string>
+			*/
+
+			intPtr = (int*)cp;
+			assert(strncmp(cp, "TYPE", 4)==0); intPtr++;
+
+			dataLen = *intPtr;
+			intPtr++;
+
+			cp = (char*)intPtr;
+			for (int i=0; i<dataLen; i++)
+			{
+				mTypes.push_back(cp);
+				while (*cp)cp++;
+				cp++;
+			}
+
+		{
+				nr= (long)cp;
+				long mask=3;
+				nr= ((nr+3)&~3)-nr;
+				while (nr--)
+				{
+					cp++;
+				}
+			}
+
+
+			/*
+				TLEN (4 bytes)
+				<len> (short) the lengths of types
+				<len>
+			*/
+
+			// Parse type lens
+			intPtr = (int*)cp;
+			assert(strncmp(cp, "TLEN", 4)==0); intPtr++;
+
+			dataLen = (int)mTypes.size();
+
+			shtPtr = (short*)intPtr;
+			for (int i=0; i<dataLen; i++, shtPtr++)
+			{
+				mTlens.push_back(shtPtr[0]);
+			}
+
+			if (dataLen & 1) shtPtr++;
+
+			/*
+				STRC (4 bytes)
+				<nr> amount of structs (int)
+				<typenr>
+				<nr_of_elems>
+				<typenr>
+				<namenr>
+				<typenr>
+				<namenr>
+			*/
+
+			intPtr = (int*)shtPtr;
+			cp = (char*)intPtr;
+			assert(strncmp(cp, "STRC", 4)==0); intPtr++;
+
+			dataLen = *intPtr;
+			intPtr++;
+
+
+			shtPtr = (short*)intPtr;
+			for (int i=0; i<dataLen; i++)
+			{
+				mStructs.push_back (shtPtr);
+				shtPtr+= (2*shtPtr[1])+2;
+			}
+
+			// build reverse lookups
+			for (int i=0; i<(int)mStructs.size(); i++)
+			{
+				short *strc = mStructs.at(i);
+				mStructReverse.insert(strc[0], i);
+				mTypeLookup.insert(btHashString(mTypes[strc[0]]),i);
+			}
+		}
+
+};
+
+
+#endif //BT_SERIALIZER_H
+

src/LinearMath/btTransform.h

@@ -17,14 +17,19 @@ subject to the following restrictions:
 #ifndef btTransform_H
 #define btTransform_H
 
-#include "btVector3.h"
+
 #include "btMatrix3x3.h"
 
 
+
 /**@brief The btTransform class supports rigid transforms with only translation and rotation and no scaling/shear.
  *It can be used in combination with btVector3, btQuaternion and btMatrix3x3 linear algebra classes. */
 class btTransform {
 	
+  ///Storage for the rotation
+	btMatrix3x3 m_basis;
+  ///Storage for the translation
+	btVector3   m_origin;
 
 public:
 	
@@ -196,11 +201,10 @@ public:
 		return identityTransform;
 	}
 
-private:
-  ///Storage for the rotation
-	btMatrix3x3 m_basis;
-  ///Storage for the translation
-	btVector3   m_origin;
+	virtual	void	serialize(struct	btTransformData& dataOut) const;
+
+	virtual	void	deSerialize(const struct	btTransformData& dataIn);
+
 };
 
 
@@ -233,6 +237,24 @@ SIMD_FORCE_INLINE bool operator==(const btTransform& t1, const btTransform& t2)
             t1.getOrigin() == t2.getOrigin() );
 }
 
+///for serialization
+struct	btTransformData
+{
+	btMatrix3x3Data	m_basis;
+	btVector3Data	m_origin;
+};
+
+SIMD_FORCE_INLINE	void	btTransform::serialize(btTransformData& dataOut) const
+{
+	m_basis.serialize(dataOut.m_basis);
+	m_origin.serialize(dataOut.m_origin);
+}
+
+SIMD_FORCE_INLINE	void	btTransform::deSerialize(const btTransformData& dataIn)
+{
+	m_basis.deSerialize(dataIn.m_basis);
+	m_origin.deSerialize(dataIn.m_origin);
+}
 
 #endif
 

src/LinearMath/btVector3.h

@@ -18,14 +18,16 @@ subject to the following restrictions:
 #define SIMD__VECTOR3_H
 
 
-#include "btScalar.h"
 #include "btScalar.h"
 #include "btMinMax.h"
+
+
+
+
 /**@brief btVector3 can be used to represent 3D points and vectors.
  * It has an un-used w component to suit 16-byte alignment when btVector3 is stored in containers. This extra component can be used by derived classes (Quaternion?) or by user
  * Ideally, this class should be replaced by a platform optimized SIMD version that keeps the data in registers
  */
-
 ATTRIBUTE_ALIGNED16(class) btVector3
 {
 public:
@@ -318,6 +320,9 @@ public:
 			setValue(btScalar(0.),btScalar(0.),btScalar(0.));
 		}
 
+		SIMD_FORCE_INLINE	void	serialize(struct	btVector3Data& dataOut) const;
+
+		SIMD_FORCE_INLINE	void	deSerialize(const struct	btVector3Data& dataIn);
 };
 
 /**@brief Return the sum of two vectors (Point symantics)*/
@@ -587,8 +592,6 @@ public:
 		}
 
 
- 
-
 };
 
 
@@ -657,4 +660,23 @@ SIMD_FORCE_INLINE void btPlaneSpace1 (const btVector3& n, btVector3& p, btVector
   }
 }
 
+struct	btVector3Data
+{
+	btScalar	m_floats[4];
+};
+
+SIMD_FORCE_INLINE	void	btVector3::serialize(struct	btVector3Data& dataOut) const
+{
+	///could also do a memcpy, check if it is worth it
+	for (int i=0;i<4;i++)
+		dataOut.m_floats[i] = m_floats[i];
+}
+
+SIMD_FORCE_INLINE void	btVector3::deSerialize(const struct	btVector3Data& dataIn)
+{
+	for (int i=0;i<4;i++)
+		m_floats[i] = dataIn.m_floats[i];
+}
+
+
 #endif //SIMD__VECTOR3_H