added serialization support for btCompoundShape, btCapsuleShapeX/Z, btCylinderShapeX,Z

make some serialization methods const
prepare for constraint serialization

src/BulletCollision/CollisionShapes/btCapsuleShape.h

@@ -88,6 +88,13 @@ public:
 		m_implicitShapeDimensions = (unScaledImplicitShapeDimensionsWithMargin * m_localScaling) - oldMargin;
 
 	}
+
+	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;
+
+
 };
 
 ///btCapsuleShapeX represents a capsule around the Z axis
@@ -125,5 +132,30 @@ public:
 };
 
 
+struct	btCapsuleShapeData
+{
+	btConvexInternalShapeData	m_convexInternalShapeData;
+
+	int	m_upAxis;
+
+	char	m_padding[4];
+};
+
+SIMD_FORCE_INLINE	int	btCapsuleShape::calculateSerializeBufferSize() const
+{
+	return sizeof(btCapsuleShapeData);
+}
+
+	///fills the dataBuffer and returns the struct name (and 0 on failure)
+SIMD_FORCE_INLINE	const char*	btCapsuleShape::serialize(void* dataBuffer, btSerializer* serializer) const
+{
+	btCapsuleShapeData* shapeData = (btCapsuleShapeData*) dataBuffer;
+	
+	btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData,serializer);
+
+	shapeData->m_upAxis = m_upAxis;
+	
+	return "btCapsuleShapeData";
+}
 
 #endif //BT_CAPSULE_SHAPE_H

src/BulletCollision/CollisionShapes/btCollisionShape.h

@@ -118,7 +118,7 @@ public:
 		return m_userPointer;
 	}
 
-	virtual	int	calculateSerializeBufferSize();
+	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;
@@ -133,7 +133,7 @@ struct	btCollisionShapeData
 	char	m_padding[4];
 };
 
-SIMD_FORCE_INLINE	int	btCollisionShape::calculateSerializeBufferSize()
+SIMD_FORCE_INLINE	int	btCollisionShape::calculateSerializeBufferSize() const
 {
 	return sizeof(btCollisionShapeData);
 }

src/BulletCollision/CollisionShapes/btCompoundShape.cpp

@@ -16,6 +16,7 @@ subject to the following restrictions:
 #include "btCompoundShape.h"
 #include "btCollisionShape.h"
 #include "BulletCollision/BroadphaseCollision/btDbvt.h"
+#include "LinearMath/btSerializer.h"
 
 btCompoundShape::btCompoundShape(bool enableDynamicAabbTree)
 : m_localAabbMin(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT)),
@@ -278,5 +279,36 @@ void btCompoundShape::setLocalScaling(const btVector3& scaling)
 		updateChildTransform(i, childTrans);
 		recalculateLocalAabb();
 	}
-
 }
+
+
+
+
+///fills the dataBuffer and returns the struct name (and 0 on failure)
+const char*	btCompoundShape::serialize(void* dataBuffer, btSerializer* serializer) const
+{
+
+	btCompoundShapeData* shapeData = (btCompoundShapeData*) dataBuffer;
+	btCollisionShape::serialize(&shapeData->m_collisionShapeData, serializer);
+
+	shapeData->m_collisionMargin = float(m_collisionMargin);
+	shapeData->m_numChildShapes = m_children.size();
+	shapeData->m_childShapePtr = 0;
+	if (shapeData->m_numChildShapes)
+	{
+		btChunk* chunk = serializer->allocate(sizeof(btCompoundShapeChildData),shapeData->m_numChildShapes);
+		btCompoundShapeChildData* memPtr = (btCompoundShapeChildData*)chunk->m_oldPtr;
+		shapeData->m_childShapePtr = memPtr;
+
+		for (int i=0;i<shapeData->m_numChildShapes;i++,memPtr++)
+		{
+			memPtr->m_childMargin = float(m_children[i].m_childMargin);
+			memPtr->m_childShape = (btCollisionShapeData*)m_children[i].m_childShape;
+			memPtr->m_childShapeType = m_children[i].m_childShapeType;
+			m_children[i].m_transform.serializeFloat(memPtr->m_transform);
+		}
+		serializer->finalizeChunk(chunk,"btCompoundShapeChildData",BT_ARRAY_CODE,chunk->m_oldPtr);
+	}
+	return "btCompoundShapeData";
+}
+

src/BulletCollision/CollisionShapes/btCompoundShape.h

@@ -62,6 +62,11 @@ ATTRIBUTE_ALIGNED16(class) btCompoundShape	: public btCollisionShape
 	///increment m_updateRevision when adding/removing/replacing child shapes, so that some caches can be updated
 	int								m_updateRevision;
 
+	btScalar	m_collisionMargin;
+
+protected:
+	btVector3	m_localScaling;
+
 public:
 	BT_DECLARE_ALIGNED_ALLOCATOR();
 
@@ -158,13 +163,46 @@ public:
 		return m_updateRevision;
 	}
 
-private:
-	btScalar	m_collisionMargin;
-protected:
-	btVector3	m_localScaling;
+	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 btCompoundShapeChildData
+{
+	btTransformFloatData	m_transform;
+	btCollisionShapeData	*m_childShape;
+	int						m_childShapeType;
+	float					m_childMargin;
+};
+
+
+struct	btCompoundShapeData
+{
+	btCollisionShapeData		m_collisionShapeData;
+
+	btCompoundShapeChildData	*m_childShapePtr;
+
+	int							m_numChildShapes;
+
+	float	m_collisionMargin;
+
+};
+
+
+SIMD_FORCE_INLINE	int	btCompoundShape::calculateSerializeBufferSize() const
+{
+	return sizeof(btCompoundShapeData);
+}
+
+
+
+
+
+
 
 #endif //COMPOUND_SHAPE_H

src/BulletCollision/CollisionShapes/btConvexHullShape.h

@@ -89,7 +89,7 @@ public:
 	///in case we receive negative scaling
 	virtual void	setLocalScaling(const btVector3& scaling);
 
-	virtual	int	calculateSerializeBufferSize();
+	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;
@@ -110,7 +110,7 @@ struct	btConvexHullShapeData
 };
 
 
-SIMD_FORCE_INLINE	int	btConvexHullShape::calculateSerializeBufferSize()
+SIMD_FORCE_INLINE	int	btConvexHullShape::calculateSerializeBufferSize() const
 {
 	return sizeof(btConvexHullShapeData);
 }

src/BulletCollision/CollisionShapes/btConvexInternalShape.h

@@ -110,7 +110,7 @@ public:
 		btAssert(0);
 	}
 
-	virtual	int	calculateSerializeBufferSize();
+	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;
@@ -135,7 +135,7 @@ struct	btConvexInternalShapeData
 
 
 
-SIMD_FORCE_INLINE	int	btConvexInternalShape::calculateSerializeBufferSize()
+SIMD_FORCE_INLINE	int	btConvexInternalShape::calculateSerializeBufferSize() const
 {
 	return sizeof(btConvexInternalShapeData);
 }

src/BulletCollision/CollisionShapes/btCylinderShape.h

@@ -106,7 +106,10 @@ public:
 		return "CylinderY";
 	}
 
+	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;
 
 };
 
@@ -157,5 +160,33 @@ public:
 };
 
 
+struct	btCylinderShapeData
+{
+	btConvexInternalShapeData	m_convexInternalShapeData;
+
+	int	m_upAxis;
+
+	char	m_padding[4];
+};
+
+SIMD_FORCE_INLINE	int	btCylinderShape::calculateSerializeBufferSize() const
+{
+	return sizeof(btCylinderShapeData);
+}
+
+	///fills the dataBuffer and returns the struct name (and 0 on failure)
+SIMD_FORCE_INLINE	const char*	btCylinderShape::serialize(void* dataBuffer, btSerializer* serializer) const
+{
+	btCylinderShapeData* shapeData = (btCylinderShapeData*) dataBuffer;
+	
+	btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData,serializer);
+
+	shapeData->m_upAxis = m_upAxis;
+	
+	return "btCylinderShapeData";
+}
+
+
+
 #endif //CYLINDER_MINKOWSKI_H
 

src/BulletCollision/CollisionShapes/btMultiSphereShape.h

@@ -63,7 +63,7 @@ public:
 		return "MultiSphere";
 	}
 
-	virtual	int	calculateSerializeBufferSize();
+	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;
@@ -89,7 +89,7 @@ struct	btMultiSphereShapeData
 
 
 
-SIMD_FORCE_INLINE	int	btMultiSphereShape::calculateSerializeBufferSize()
+SIMD_FORCE_INLINE	int	btMultiSphereShape::calculateSerializeBufferSize() const
 {
 	return sizeof(btMultiSphereShapeData);
 }

src/BulletCollision/CollisionShapes/btStridingMeshInterface.h

@@ -91,7 +91,7 @@ class  btStridingMeshInterface
 			m_scaling = scaling;
 		}
 
-		virtual	int	calculateSerializeBufferSize();
+		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;
@@ -132,7 +132,7 @@ struct	btStridingMeshInterfaceData
 
 
 
-SIMD_FORCE_INLINE	int	btStridingMeshInterface::calculateSerializeBufferSize()
+SIMD_FORCE_INLINE	int	btStridingMeshInterface::calculateSerializeBufferSize() const
 {
 	return sizeof(btStridingMeshInterfaceData);
 }

src/BulletCollision/CollisionShapes/btTriangleMeshShape.h

@@ -80,7 +80,7 @@ public:
 	//debugging
 	virtual const char*	getName()const {return "TRIANGLEMESH";}
 
-	virtual	int	calculateSerializeBufferSize();
+	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;
@@ -101,7 +101,7 @@ struct	btTriangleMeshShapeData
 };
 
 
-SIMD_FORCE_INLINE	int	btTriangleMeshShape::calculateSerializeBufferSize()
+SIMD_FORCE_INLINE	int	btTriangleMeshShape::calculateSerializeBufferSize() const
 {
 	return sizeof(btTriangleMeshShapeData);
 }