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

make some serialization methods const
prepare for constraint serialization

Demos/CMakeLists.txt

@@ -1,4 +1,4 @@
-SUBDIRS( OpenGL BasicDemo Benchmarks Box2dDemo ConvexDecompositionDemo SerializeDemo )
+SUBDIRS( OpenGL BasicDemo Benchmarks Box2dDemo ConstraintDemo ConvexDecompositionDemo SerializeDemo )
 
 
 #todo: re-enable the rest of the demos again

Demos/ConstraintDemo/CMakeLists.txt

@@ -12,15 +12,35 @@
 
 
 INCLUDE_DIRECTORIES(
-${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL 
+${BULLET_PHYSICS_SOURCE_DIR}/src 
+${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL 
+${BULLET_PHYSICS_SOURCE_DIR}/Extras/Serialize/BulletFileLoader
+${BULLET_PHYSICS_SOURCE_DIR}/Extras/Serialize/BulletWorldImporter
 )
 
-LINK_LIBRARIES(
-OpenGLSupport  BulletDynamics  BulletCollision LinearMath    ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
-)
 
-ADD_EXECUTABLE(AppConstraintDemo
+
+
+
+IF (USE_GLUT)
+	LINK_LIBRARIES(
+		OpenGLSupport BulletWorldImporter BulletDynamics  BulletCollision LinearMath  BulletFileLoader  ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
+	)
+
+	ADD_EXECUTABLE(AppConstraintDemo
+			ConstraintDemo.cpp
+			main.cpp
+	)
+ELSE (USE_GLUT)
+	LINK_LIBRARIES(
+		OpenGLSupport BulletWorldImporter BulletDynamics  BulletCollision LinearMath BulletFileLoader ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
+	)
+
+	ADD_EXECUTABLE(AppConstraintDemo
+		WIN32
+		../OpenGL/Win32AppMain.cpp
+		Win32ConstraintDemo.cpp
 		ConstraintDemo.cpp
-		main.cpp
+		ConstraintDemo.h
-)
+	)
-
+ENDIF (USE_GLUT)

Demos/ConstraintDemo/ConstraintDemo.cpp

@@ -13,6 +13,7 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
+//#define TEST_SERIALIZATION 1
 
 
 
@@ -28,6 +29,13 @@ subject to the following restrictions:
 #include "GL_ShapeDrawer.h"
 #include "GlutStuff.h"
 
+#ifdef TEST_SERIALIZATION
+#include "LinearMath/btSerializer.h"
+#include "btBulletFile.h"
+#include "btBulletWorldImporter.h"
+#endif //TEST_SERIALIZATION
+
+
 const int numObjects = 3;
 
 #define ENABLE_ALL_DEMOS 1
@@ -74,6 +82,15 @@ void	drawLimit()
 }
 
 
+void	ConstraintDemo::setupEmptyDynamicsWorld()
+{
+	m_collisionConfiguration = new btDefaultCollisionConfiguration();
+	m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
+	m_overlappingPairCache = new btDbvtBroadphase();
+	m_constraintSolver = new btSequentialImpulseConstraintSolver();
+	m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_constraintSolver,m_collisionConfiguration);
+
+}
 
 void	ConstraintDemo::initPhysics()
 {
@@ -83,14 +100,7 @@ void	ConstraintDemo::initPhysics()
 	setCameraDistance(26.f);
 	m_Time = 0;
 
-	m_collisionConfiguration = new btDefaultCollisionConfiguration();
+	setupEmptyDynamicsWorld();
-	m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
-	btVector3 worldMin(-1000,-1000,-1000);
-	btVector3 worldMax(1000,1000,1000);
-	m_overlappingPairCache = new btAxisSweep3(worldMin,worldMax);
-	m_constraintSolver = new btSequentialImpulseConstraintSolver();
-	m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_constraintSolver,m_collisionConfiguration);
-
 
 	btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(40.),btScalar(50.)));
 	m_collisionShapes.push_back(groundShape);
@@ -338,7 +348,7 @@ void	ConstraintDemo::initPhysics()
 
 		btHingeConstraint* pHinge = new btHingeConstraint( *pBody, btPivotA, btAxisA );
 //		pHinge->enableAngularMotor(true, -1.0, 0.165); // use for the old solver
-		pHinge->enableAngularMotor(true, -1.0, 1.65); // use for the new SIMD solver
+		pHinge->enableAngularMotor(true, -1.0f, 1.65f); // use for the new SIMD solver
 		m_dynamicsWorld->addConstraint(pHinge);
 		pHinge->setDbgDrawSize(btScalar(5.f));
 	}
@@ -471,13 +481,35 @@ void	ConstraintDemo::initPhysics()
 		spHingeDynAB->setDbgDrawSize(btScalar(5.f));
 	}
 #endif
+
+#ifdef TEST_SERIALIZATION
+
+	int maxSerializeBufferSize = 1024*1024*5;
+
+	btDefaultSerializer*	serializer = new btDefaultSerializer(maxSerializeBufferSize);
+	m_dynamicsWorld->serialize(serializer);
+	
+	FILE* f2 = fopen("testFile.bullet","wb");
+	fwrite(serializer->getBufferPointer(),serializer->getCurrentBufferSize(),1,f2);
+	fclose(f2);
+
+
+	exitPhysics();
+	
+	setupEmptyDynamicsWorld();
+
+	btBulletWorldImporter* fileLoader = new btBulletWorldImporter(m_dynamicsWorld);
+
+	fileLoader->loadFile("testFile.bullet");
+
+#endif //TEST_SERIALIZATION
+
 }
 
-ConstraintDemo::~ConstraintDemo()
+void	ConstraintDemo::exitPhysics()
 {
-	//cleanup in the reverse order of creation/initialization
 
-	int i;
+		int i;
 
 	//removed/delete constraints
 	for (i=m_dynamicsWorld->getNumConstraints()-1; i>=0 ;i--)
@@ -511,6 +543,8 @@ ConstraintDemo::~ConstraintDemo()
 		delete shape;
 	}
 
+	m_collisionShapes.clear();
+
 	//delete dynamics world
 	delete m_dynamicsWorld;
 
@@ -525,6 +559,13 @@ ConstraintDemo::~ConstraintDemo()
 
 	delete m_collisionConfiguration;
 
+}
+
+ConstraintDemo::~ConstraintDemo()
+{
+	//cleanup in the reverse order of creation/initialization
+
+	exitPhysics();
 
 }
 
@@ -550,7 +591,7 @@ void ConstraintDemo::clientMoveAndDisplay()
 		// build twist target
 		//btQuaternion q2(0,0,0);
 		//btQuaternion q2(btVehictor3(1,0,0), -0.3*sin(m_Time));
-		btQuaternion q2(btVector3(1,0,0), -1.49*sin(1.5*m_Time));
+		btQuaternion q2(btVector3(1,0,0), -1.49f*btSin(1.5f*m_Time));
 
 		// compose cone + twist and set target
 		q1 = q1 * q2;
@@ -558,12 +599,21 @@ void ConstraintDemo::clientMoveAndDisplay()
 		m_ctc->setMotorTargetInConstraintSpace(q1);
 	}
 
+	{
+		static bool once = false;
+		if (m_dynamicsWorld->getDebugDrawer())
+		{
+			m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawConstraints+btIDebugDraw::DBG_DrawConstraintLimits);
+			once=false;
+		}
+	}
+
 	
 	{
 	 	//during idle mode, just run 1 simulation step maximum
 		int maxSimSubSteps = m_idle ? 1 : 1;
 		if (m_idle)
-			dt = 1.0/420.f;
+			dt = 1.0f/420.f;
 
 		int numSimSteps = m_dynamicsWorld->stepSimulation(dt,maxSimSubSteps);
 
@@ -593,7 +643,7 @@ void ConstraintDemo::clientMoveAndDisplay()
 //	drawLimit();
 
     glFlush();
-    glutSwapBuffers();
+    swapBuffers();
 }
 
 
@@ -611,7 +661,7 @@ void ConstraintDemo::displayCallback(void) {
 	renderme();
 
     glFlush();
-    glutSwapBuffers();
+    swapBuffers();
 }
 
 

Demos/ConstraintDemo/ConstraintDemo.h

@@ -15,10 +15,16 @@ subject to the following restrictions:
 #ifndef CONSTRAINT_DEMO_H
 #define CONSTRAINT_DEMO_H
 
+#ifdef _WINDOWS
+#include "Win32DemoApplication.h"
+#define PlatformDemoApplication Win32DemoApplication
+#else
 #include "GlutDemoApplication.h"
+#define PlatformDemoApplication GlutDemoApplication
+#endif
 
 ///ConstraintDemo shows how to create a constraint, like Hinge or btGenericD6constraint
-class ConstraintDemo : public GlutDemoApplication
+class ConstraintDemo : public PlatformDemoApplication
 {
 	//keep track of variables to delete memory at the end
 	btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
@@ -31,6 +37,8 @@ class ConstraintDemo : public GlutDemoApplication
 
 	class btDefaultCollisionConfiguration* m_collisionConfiguration;
 
+	void	setupEmptyDynamicsWorld();
+
 	public:
 
 
@@ -38,6 +46,8 @@ class ConstraintDemo : public GlutDemoApplication
 
 	void	initPhysics();
 
+	void	exitPhysics();
+
 	virtual void clientMoveAndDisplay();
 
 	virtual void displayCallback();

Demos/ConstraintDemo/Win32ConstraintDemo.cpp

@@ -0,0 +1,25 @@
+#ifdef _WINDOWS
+/*
+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.
+*/
+
+#include "ConstraintDemo.h"
+
+///The 'createDemo' function is called from Bullet/Demos/OpenGL/Win32AppMain.cpp to instantiate this particular demo
+DemoApplication*	createDemo()
+{
+	return new ConstraintDemo();
+}
+
+#endif

Demos/ConvexDecompositionDemo/ConvexDecompositionDemo.cpp

@@ -24,7 +24,7 @@ subject to the following restrictions:
 #include "BulletCollision/CollisionShapes/btShapeHull.h"
 
 #define TEST_SERIALIZATION
-#define NO_OBJ_TO_BULLET
+//#define NO_OBJ_TO_BULLET
 
 #ifdef TEST_SERIALIZATION
 #include "LinearMath/btSerializer.h"
@@ -518,10 +518,10 @@ void ConvexDecompositionDemo::initPhysics(const char* filename)
 	btBulletWorldImporter* fileLoader = new btBulletWorldImporter(m_dynamicsWorld);
 	//fileLoader->setVerboseMode(true);
 
-	//fileLoader->loadFileFromMemory("testFile.bullet");
+	fileLoader->loadFile("testFile.bullet");
-	//fileLoader->loadFileFromMemory("testFile64Double.bullet");
+	//fileLoader->loadFile("testFile64Double.bullet");
-	//fileLoader->loadFileFromMemory("testFile64Single.bullet");
+	//fileLoader->loadFile("testFile64Single.bullet");
-	fileLoader->loadFileFromMemory("testFile32Single.bullet");
+	//fileLoader->loadFile("testFile32Single.bullet");
 	
 
 

Demos/OpenGL/GL_DialogWindow.cpp

@@ -181,7 +181,7 @@ void GL_DialogWindow::draw(btScalar deltaTime)
 	int curVertPos = m_dialogVertPos;
 	curVertPos += yInc;
 
-	GLDebugDrawString(m_dialogHorPos+m_dialogWidth/2-((strlen(m_dialogTitle)/2)*charWidth),m_dialogVertPos+yInc ,m_dialogTitle);
+	GLDebugDrawString(m_dialogHorPos+m_dialogWidth/2-((int(strlen(m_dialogTitle)/2))*charWidth),m_dialogVertPos+yInc ,m_dialogTitle);
 	curVertPos += 20;
 	
 

Demos/OpenGL/GL_ShapeDrawer.cpp

@@ -403,6 +403,7 @@ inline void glDrawVector(const btVector3& v) { glVertex3d(v[0], v[1], v[2]); }
 
 void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, const btVector3& color,int	debugMode,const btVector3& worldBoundsMin,const btVector3& worldBoundsMax)
 {
+	
 	if (shape->getShapeType() == CUSTOM_CONVEX_SHAPE_TYPE)
 	{
 		btVector3 org(m[12], m[13], m[14]);
@@ -795,7 +796,6 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
 									btVector3 v3 = vtx[index3];
 									btVector3 normal = (v3-v1).cross(v2-v1);
 									normal.normalize ();
-
 									glNormal3f(normal.getX(),normal.getY(),normal.getZ());
 									glVertex3f (v1.x(), v1.y(), v1.z());
 									glVertex3f (v2.x(), v2.y(), v2.z());
@@ -813,7 +813,8 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
 		}
 
 
-
+		glNormal3f(0,1,0);
+	
 
 		/// for polyhedral shapes
 		if (debugMode==btIDebugDraw::DBG_DrawFeaturesText && (shape->isPolyhedral()))

Demos/SerializeDemo/SerializeDemo.cpp

@@ -159,8 +159,8 @@ void	SerializeDemo::initPhysics()
 
 		//btMultiSphereShape* colShape = new btMultiSphereShape(positions,radii,numSpheres);
 
-		btCollisionShape* colShape = new btCapsuleShape(SCALING*1,SCALING*1);
+		btCollisionShape* colShape = new btCapsuleShapeZ(SCALING*1,SCALING*1);
-		//btCollisionShape* colShape = new btCylinderShape(btVector3(SCALING*1,SCALING*1,SCALING*1));
+		//btCollisionShape* colShape = new btCylinderShapeZ(btVector3(SCALING*1,SCALING*1,SCALING*1));
 		//btCollisionShape* colShape = new btBoxShape(btVector3(SCALING*1,SCALING*1,SCALING*1));
 		//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
 		m_collisionShapes.push_back(colShape);
@@ -231,7 +231,7 @@ void	SerializeDemo::initPhysics()
 
 	btBulletWorldImporter* fileLoader = new btBulletWorldImporter(m_dynamicsWorld);
 
-	fileLoader->loadFileFromMemory("testFile.bullet");
+	fileLoader->loadFile("testFile.bullet");
 
 
 

Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.cpp

@@ -11,7 +11,7 @@ m_verboseDumpAllTypes(false)
 {
 }
 
-bool	btBulletWorldImporter::loadFileFromMemory( const char* fileName)
+bool	btBulletWorldImporter::loadFile( const char* fileName)
 {
 	bParse::btBulletFile* bulletFile2 = new bParse::btBulletFile(fileName);
 
@@ -36,30 +36,11 @@ bool	btBulletWorldImporter::loadFileFromMemory( char* memoryBuffer, int len)
 	return result;
 }
 
-
+btCollisionShape* btBulletWorldImporter::convertCollisionShape(  btCollisionShapeData* shapeData  )
-bool	btBulletWorldImporter::loadFileFromMemory(  bParse::btBulletFile* bulletFile2)
 {
-	
+	btCollisionShape* shape = 0;
 
-	bool ok = (bulletFile2->getFlags()& bParse::FD_OK)!=0;
+	switch (shapeData->m_shapeType)
-	
-	if (ok)
-		bulletFile2->parse(m_verboseDumpAllTypes);
-	else 
-		return false;
-	
-	if (m_verboseDumpAllTypes)
-	{
-		bulletFile2->dumpChunks(bulletFile2->getFileDNA());
-	}
-
-	int i;
-	btHashMap<btHashPtr,btCollisionShape*>	shapeMap;
-
-	for (i=0;i<bulletFile2->m_collisionShapes.size();i++)
-	{
-		btCollisionShapeData* shapeData = (btCollisionShapeData*)bulletFile2->m_collisionShapes[i];
-		switch (shapeData->m_shapeType)
 		{
 		case CYLINDER_SHAPE_PROXYTYPE:
 		case CAPSULE_SHAPE_PROXYTYPE:
@@ -72,7 +53,6 @@ bool	btBulletWorldImporter::loadFileFromMemory(  bParse::btBulletFile* bulletFil
 				btVector3 implicitShapeDimensions;
 				implicitShapeDimensions.deSerializeFloat(bsd->m_implicitShapeDimensions);
 				btVector3 margin(bsd->m_collisionMargin,bsd->m_collisionMargin,bsd->m_collisionMargin);
-				btCollisionShape* shape = 0;
 				switch (shapeData->m_shapeType)
 				{
 					case BOX_SHAPE_PROXYTYPE:
@@ -87,14 +67,63 @@ bool	btBulletWorldImporter::loadFileFromMemory(  bParse::btBulletFile* bulletFil
 						}
 					case CAPSULE_SHAPE_PROXYTYPE:
 						{
-							shape = createCapsuleShape(implicitShapeDimensions.getX(),implicitShapeDimensions.getY());
+							btCapsuleShapeData* capData = (btCapsuleShapeData*)shapeData;
+							switch (capData->m_upAxis)
+							{
+							case 0:
+								{
+									shape = createCapsuleShapeX(implicitShapeDimensions.getY(),implicitShapeDimensions.getX());
+									break;
+								}
+							case 1:
+								{
+									shape = createCapsuleShapeY(implicitShapeDimensions.getX(),implicitShapeDimensions.getY());
+									break;
+								}
+							case 2:
+								{
+									shape = createCapsuleShapeZ(implicitShapeDimensions.getX(),implicitShapeDimensions.getZ());
+									break;
+								}
+							default:
+								{
+									printf("error: wrong up axis for btCapsuleShape\n");
+								}
+
+							};
+							
 							break;
 						}
 					case CYLINDER_SHAPE_PROXYTYPE:
 						{
+							btCylinderShapeData* cylData = (btCylinderShapeData*) shapeData;
 							btVector3 halfExtents = implicitShapeDimensions+margin;
+							switch (cylData->m_upAxis)
+							{
+							case 0:
+								{
+									shape = createCylinderShapeX(halfExtents.getY(),halfExtents.getX());
+									break;
+								}
+							case 1:
+								{
+									shape = createCylinderShapeY(halfExtents.getX(),halfExtents.getY());
+									break;
+								}
+							case 2:
+								{
+									shape = createCylinderShapeZ(halfExtents.getX(),halfExtents.getZ());
+									break;
+								}
+							default:
+								{
+									printf("unknown Cylinder up axis\n");
+								}
 
-							shape = createCylinderShapeY(halfExtents.getX(),halfExtents.getY());
+							};
+							
+
+							
 							break;
 						}
 					case MULTI_SPHERE_SHAPE_PROXYTYPE:
@@ -154,7 +183,6 @@ bool	btBulletWorldImporter::loadFileFromMemory(  bParse::btBulletFile* bulletFil
 					localScaling.deSerializeFloat(bsd->m_localScaling);
 					shape->setLocalScaling(localScaling);
 					
-					shapeMap.insert(shapeData,shape);
 				}
 				break;
 			}
@@ -198,17 +226,73 @@ bool	btBulletWorldImporter::loadFileFromMemory(  bParse::btBulletFile* bulletFil
 
 			btBvhTriangleMeshShape* trimeshShape = new btBvhTriangleMeshShape(meshInterface,true);
 			trimeshShape->setMargin(trimesh->m_collisionMargin);
-			shapeMap.insert(shapeData,trimeshShape);
+			shape = trimeshShape;
 
 			//printf("trimesh->m_collisionMargin=%f\n",trimesh->m_collisionMargin);
 			break;
 		}
+		case COMPOUND_SHAPE_PROXYTYPE:
+			{
+				btCompoundShapeData* compoundData = (btCompoundShapeData*)shapeData;
+				btCompoundShape* compoundShape = new btCompoundShape();
+
+
+				btAlignedObjectArray<btCollisionShape*> childShapes;
+				for (int i=0;i<compoundData->m_numChildShapes;i++)
+				{
+					btCollisionShape* childShape = convertCollisionShape(compoundData->m_childShapePtr[i].m_childShape);
+					if (childShape)
+					{
+						btTransform localTransform;
+						localTransform.deSerializeFloat(compoundData->m_childShapePtr[i].m_transform);
+						compoundShape->addChildShape(localTransform,childShape);
+					} else
+					{
+						printf("error: couldn't create childShape for compoundShape\n");
+					}
+					
+				}
+				shape = compoundShape;
+
+				break;
+			}
 		default:
 			{
 				printf("unsupported shape type (%d)\n",shapeData->m_shapeType);
 			}
 		}
-		
+
+		return shape;
+	
+}
+
+
+
+bool	btBulletWorldImporter::loadFileFromMemory(  bParse::btBulletFile* bulletFile2)
+{
+	
+
+	bool ok = (bulletFile2->getFlags()& bParse::FD_OK)!=0;
+	
+	if (ok)
+		bulletFile2->parse(m_verboseDumpAllTypes);
+	else 
+		return false;
+	
+	if (m_verboseDumpAllTypes)
+	{
+		bulletFile2->dumpChunks(bulletFile2->getFileDNA());
+	}
+
+	int i;
+	btHashMap<btHashPtr,btCollisionShape*>	shapeMap;
+
+	for (i=0;i<bulletFile2->m_collisionShapes.size();i++)
+	{
+		btCollisionShapeData* shapeData = (btCollisionShapeData*)bulletFile2->m_collisionShapes[i];
+		btCollisionShape* shape = convertCollisionShape(shapeData);
+		if (shape)
+			shapeMap.insert(shapeData,shape);
 	}
 	for (i=0;i<bulletFile2->m_rigidBodies.size();i++)
 	{
@@ -311,17 +395,39 @@ btCollisionShape* btBulletWorldImporter::createSphereShape(btScalar radius)
 	return new btSphereShape(radius);
 }
 
-btCollisionShape* btBulletWorldImporter::createCapsuleShape(btScalar radius, btScalar height)
+
+btCollisionShape* btBulletWorldImporter::createCapsuleShapeX(btScalar radius, btScalar height)
+{
+	return new btCapsuleShapeX(radius,height);
+}
+
+btCollisionShape* btBulletWorldImporter::createCapsuleShapeY(btScalar radius, btScalar height)
 {
 	return new btCapsuleShape(radius,height);
 }
 
+btCollisionShape* btBulletWorldImporter::createCapsuleShapeZ(btScalar radius, btScalar height)
+{
+	return new btCapsuleShapeZ(radius,height);
+}
 
 
+
+btCollisionShape* btBulletWorldImporter::createCylinderShapeX(btScalar radius,btScalar height)
+{
+	return new btCylinderShapeX(btVector3(height,radius,radius));
+}
+
 btCollisionShape* btBulletWorldImporter::createCylinderShapeY(btScalar radius,btScalar height)
 {
 	return new btCylinderShape(btVector3(radius,height,radius));
 }
+
+btCollisionShape* btBulletWorldImporter::createCylinderShapeZ(btScalar radius,btScalar height)
+{
+	return new btCylinderShapeZ(btVector3(radius,radius,height));
+}
+
 btTriangleMesh*	btBulletWorldImporter::createTriangleMeshContainer()
 {
 	return 0;

Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.h

@@ -29,24 +29,30 @@ class btTypedConstraint;
 class btDynamicsWorld;
 struct ConstraintInput;
 class btRigidBodyColladaInfo;
+struct btCollisionShapeData;
 
 namespace bParse
 {
 	class btBulletFile;
+	
 };
 
 
 class btBulletWorldImporter
 {
+protected:
+
 	btDynamicsWorld* m_dynamicsWorld;
 
 	bool m_verboseDumpAllTypes;
 
+	btCollisionShape* convertCollisionShape(  btCollisionShapeData* shapeData  );
+
 public:
 	
 	btBulletWorldImporter(btDynamicsWorld* world);
 
-	bool	loadFileFromMemory(const char* fileName);
+	bool	loadFile(const char* fileName);
 
 	///the memoryBuffer might be modified (for example if endian swaps are necessary)
 	bool	loadFileFromMemory(char *memoryBuffer, int len);
@@ -83,8 +89,13 @@ public:
 	virtual btCollisionShape* createPlaneShape(const btVector3& planeNormal,btScalar planeConstant);
 	virtual btCollisionShape* createBoxShape(const btVector3& halfExtents);
 	virtual btCollisionShape* createSphereShape(btScalar radius);
-	virtual btCollisionShape* createCapsuleShape(btScalar radius, btScalar height);
+	virtual btCollisionShape* createCapsuleShapeX(btScalar radius, btScalar height);
+	virtual btCollisionShape* createCapsuleShapeY(btScalar radius, btScalar height);
+	virtual btCollisionShape* createCapsuleShapeZ(btScalar radius, btScalar height);
+	
+	virtual btCollisionShape* createCylinderShapeX(btScalar radius,btScalar height);
 	virtual btCollisionShape* createCylinderShapeY(btScalar radius,btScalar height);
+	virtual btCollisionShape* createCylinderShapeZ(btScalar radius,btScalar height);
 	virtual class btTriangleMesh*	createTriangleMeshContainer();
 	virtual	btCollisionShape* createBvhTriangleMeshShape(btTriangleMesh* trimesh);
 	virtual btCollisionShape* createConvexTriangleMeshShape(btTriangleMesh* trimesh);

Extras/Serialize/makesdna/makesdna.cpp

@@ -128,6 +128,9 @@ typedef unsigned long uintptr_t;
 #include "BulletCollision/CollisionShapes/btConvexHullShape.h"
 #include "BulletCollision/CollisionShapes/btStridingMeshInterface.h"
 #include "BulletCollision/CollisionShapes/btTriangleMeshShape.h"
+#include "BulletCollision/CollisionShapes/btCompoundShape.h"
+#include "BulletCollision/CollisionShapes/btCylinderShape.h"
+#include "BulletCollision/CollisionShapes/btCapsuleShape.h"
 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
 #include "BulletDynamics/Dynamics/btRigidBody.h"
 
@@ -153,6 +156,9 @@ char *includefiles[] = {
 	"../../../src/BulletCollision/CollisionShapes/btMultiSphereShape.h",
 	"../../../src/BulletCollision/CollisionShapes/btStridingMeshInterface.h",
 	"../../../src/BulletCollision/CollisionShapes/btTriangleMeshShape.h",
+	"../../../src/BulletCollision/CollisionShapes/btCompoundShape.h",
+	"../../../src/BulletCollision/CollisionShapes/btCylinderShape.h",
+	"../../../src/BulletCollision/CollisionShapes/btCapsuleShape.h",
 	"../../../src/BulletCollision/CollisionShapes/btConvexHullShape.h",
 	"../../../src/BulletCollision/CollisionDispatch/btCollisionObject.h",
 	"../../../src/BulletDynamics/Dynamics/btRigidBody.h",

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:
+	virtual	int	calculateSerializeBufferSize() const;
-	btScalar	m_collisionMargin;
+
-protected:
+	///fills the dataBuffer and returns the struct name (and 0 on failure)
-	btVector3	m_localScaling;
+	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);
 }

src/LinearMath/btMatrix3x3.h

@@ -503,6 +503,8 @@ public:
 
 	void	serialize(struct	btMatrix3x3Data& dataOut) const;
 
+	void	serializeFloat(struct	btMatrix3x3FloatData& dataOut) const;
+
 	void	deSerialize(const struct	btMatrix3x3Data& dataIn);
 
 	void	deSerializeFloat(const struct	btMatrix3x3FloatData& dataIn);
@@ -650,12 +652,19 @@ struct	btMatrix3x3DoubleData
 
 
 	
+
 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::serializeFloat(struct	btMatrix3x3FloatData& dataOut) const
+{
+	for (int i=0;i<3;i++)
+		m_el[i].serializeFloat(dataOut.m_el[i]);
+}
+
 
 SIMD_FORCE_INLINE	void	btMatrix3x3::deSerialize(const struct	btMatrix3x3Data& dataIn)
 {

src/LinearMath/btSerializer.cpp

@@ -1,6 +1,5 @@
-
 unsigned char sBulletDNAstr64[]= {
-83,68,78,65,78,65,77,69,85,0,0,0,109,95,115,105,122,101,0,109,
+83,68,78,65,78,65,77,69,92,0,0,0,109,95,115,105,122,101,0,109,
 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,
@@ -25,7 +24,12 @@ unsigned char sBulletDNAstr64[]= {
 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,
-115,104,73,110,116,101,114,102,97,99,101,0,42,109,95,117,110,115,99,97,
+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,
@@ -75,7 +79,7 @@ unsigned char sBulletDNAstr64[]= {
 110,101,97,114,83,108,101,101,112,105,110,103,84,104,114,101,115,104,111,108,
 100,0,109,95,97,110,103,117,108,97,114,83,108,101,101,112,105,110,103,84,
 104,114,101,115,104,111,108,100,0,109,95,97,100,100,105,116,105,111,110,97,
-108,68,97,109,112,105,110,103,0,0,0,0,84,89,80,69,33,0,0,0,
+108,68,97,109,112,105,110,103,0,0,0,0,84,89,80,69,37,0,0,0,
 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,
@@ -96,55 +100,62 @@ unsigned char sBulletDNAstr64[]= {
 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,
-115,104,83,104,97,112,101,68,97,116,97,0,98,116,67,111,110,118,101,120,
+115,104,83,104,97,112,101,68,97,116,97,0,98,116,67,111,109,112,111,117,
-72,117,108,108,83,104,97,112,101,68,97,116,97,0,98,116,67,111,108,108,
+110,100,83,104,97,112,101,67,104,105,108,100,68,97,116,97,0,98,116,67,
-105,115,105,111,110,79,98,106,101,99,116,68,111,117,98,108,101,68,97,116,
+111,109,112,111,117,110,100,83,104,97,112,101,68,97,116,97,0,98,116,67,
-97,0,98,116,67,111,108,108,105,115,105,111,110,79,98,106,101,99,116,70,
+121,108,105,110,100,101,114,83,104,97,112,101,68,97,116,97,0,98,116,67,
-108,111,97,116,68,97,116,97,0,98,116,82,105,103,105,100,66,111,100,121,
+97,112,115,117,108,101,83,104,97,112,101,68,97,116,97,0,98,116,67,111,
-70,108,111,97,116,68,97,116,97,0,98,116,82,105,103,105,100,66,111,100,
+110,118,101,120,72,117,108,108,83,104,97,112,101,68,97,116,97,0,98,116,
-121,68,111,117,98,108,101,68,97,116,97,0,84,76,69,78,1,0,1,0,
+67,111,108,108,105,115,105,111,110,79,98,106,101,99,116,68,111,117,98,108,
-2,0,2,0,4,0,4,0,4,0,4,0,8,0,0,0,16,0,48,0,
+101,68,97,116,97,0,98,116,67,111,108,108,105,115,105,111,110,79,98,106,
-16,0,16,0,32,0,48,0,96,0,64,0,-128,0,16,0,56,0,20,0,
+101,99,116,70,108,111,97,116,68,97,116,97,0,98,116,82,105,103,105,100,
-72,0,4,0,4,0,40,0,32,0,56,0,80,0,-40,1,8,1,-16,1,
+66,111,100,121,70,108,111,97,116,68,97,116,97,0,98,116,82,105,103,105,
--88,3,0,0,83,84,82,67,23,0,0,0,10,0,3,0,4,0,0,0,
+100,66,111,100,121,68,111,117,98,108,101,68,97,116,97,0,84,76,69,78,
-4,0,1,0,9,0,2,0,11,0,3,0,10,0,3,0,10,0,4,0,
+1,0,1,0,2,0,2,0,4,0,4,0,4,0,4,0,8,0,0,0,
-10,0,5,0,12,0,2,0,9,0,6,0,9,0,7,0,13,0,1,0,
+16,0,48,0,16,0,16,0,32,0,48,0,96,0,64,0,-128,0,16,0,
-7,0,8,0,14,0,1,0,8,0,8,0,15,0,1,0,13,0,9,0,
+56,0,20,0,72,0,4,0,4,0,40,0,32,0,56,0,80,0,32,0,
-16,0,1,0,14,0,9,0,17,0,2,0,15,0,10,0,13,0,11,0,
+64,0,64,0,80,0,-40,1,8,1,-16,1,-88,3,0,0,83,84,82,67,
-18,0,2,0,16,0,10,0,14,0,11,0,19,0,3,0,9,0,12,0,
+27,0,0,0,10,0,3,0,4,0,0,0,4,0,1,0,9,0,2,0,
-4,0,13,0,0,0,14,0,20,0,5,0,19,0,15,0,13,0,16,0,
+11,0,3,0,10,0,3,0,10,0,4,0,10,0,5,0,12,0,2,0,
-13,0,17,0,7,0,18,0,4,0,19,0,21,0,2,0,13,0,20,0,
+9,0,6,0,9,0,7,0,13,0,1,0,7,0,8,0,14,0,1,0,
-7,0,21,0,22,0,4,0,20,0,22,0,21,0,23,0,4,0,24,0,
+8,0,8,0,15,0,1,0,13,0,9,0,16,0,1,0,14,0,9,0,
-0,0,14,0,23,0,1,0,4,0,25,0,24,0,2,0,2,0,26,0,
+17,0,2,0,15,0,10,0,13,0,11,0,18,0,2,0,16,0,10,0,
-2,0,25,0,25,0,6,0,13,0,27,0,14,0,28,0,23,0,29,0,
+14,0,11,0,19,0,3,0,9,0,12,0,4,0,13,0,0,0,14,0,
-24,0,30,0,4,0,31,0,4,0,32,0,26,0,4,0,25,0,33,0,
+20,0,5,0,19,0,15,0,13,0,16,0,13,0,17,0,7,0,18,0,
-13,0,34,0,4,0,35,0,0,0,14,0,27,0,4,0,19,0,15,0,
+4,0,19,0,21,0,2,0,13,0,20,0,7,0,21,0,22,0,4,0,
-26,0,36,0,7,0,18,0,0,0,14,0,28,0,5,0,20,0,22,0,
+20,0,22,0,21,0,23,0,4,0,24,0,0,0,14,0,23,0,1,0,
-13,0,37,0,14,0,38,0,4,0,39,0,0,0,40,0,29,0,24,0,
+4,0,25,0,24,0,2,0,2,0,26,0,2,0,25,0,25,0,6,0,
-9,0,41,0,9,0,42,0,19,0,43,0,9,0,44,0,18,0,45,0,
+13,0,27,0,14,0,28,0,23,0,29,0,24,0,30,0,4,0,31,0,
-18,0,46,0,14,0,47,0,14,0,48,0,14,0,49,0,8,0,50,0,
+4,0,32,0,26,0,4,0,25,0,33,0,13,0,34,0,4,0,35,0,
-8,0,51,0,8,0,52,0,8,0,53,0,8,0,54,0,8,0,55,0,
+0,0,14,0,27,0,4,0,19,0,15,0,26,0,36,0,7,0,18,0,
-8,0,56,0,4,0,57,0,4,0,58,0,4,0,59,0,4,0,60,0,
+0,0,14,0,28,0,4,0,17,0,37,0,19,0,38,0,4,0,39,0,
-4,0,61,0,4,0,62,0,4,0,63,0,0,0,14,0,30,0,23,0,
+7,0,40,0,29,0,4,0,19,0,15,0,28,0,41,0,4,0,42,0,
-9,0,41,0,9,0,42,0,19,0,43,0,9,0,44,0,17,0,45,0,
+7,0,18,0,30,0,3,0,20,0,22,0,4,0,43,0,0,0,14,0,
-17,0,46,0,13,0,47,0,13,0,48,0,13,0,49,0,7,0,50,0,
+31,0,3,0,20,0,22,0,4,0,43,0,0,0,14,0,32,0,5,0,
-7,0,51,0,7,0,52,0,7,0,53,0,7,0,54,0,7,0,55,0,
+20,0,22,0,13,0,44,0,14,0,45,0,4,0,46,0,0,0,47,0,
-7,0,56,0,4,0,57,0,4,0,58,0,4,0,59,0,4,0,60,0,
+33,0,24,0,9,0,48,0,9,0,49,0,19,0,50,0,9,0,51,0,
-4,0,61,0,4,0,62,0,4,0,63,0,31,0,21,0,30,0,64,0,
+18,0,52,0,18,0,53,0,14,0,54,0,14,0,55,0,14,0,56,0,
-15,0,65,0,13,0,66,0,13,0,67,0,13,0,68,0,13,0,69,0,
+8,0,57,0,8,0,58,0,8,0,59,0,8,0,60,0,8,0,61,0,
-13,0,70,0,13,0,71,0,13,0,72,0,13,0,73,0,13,0,74,0,
+8,0,62,0,8,0,63,0,4,0,64,0,4,0,65,0,4,0,66,0,
-7,0,75,0,7,0,76,0,7,0,77,0,7,0,78,0,7,0,79,0,
+4,0,67,0,4,0,68,0,4,0,69,0,4,0,70,0,0,0,14,0,
-7,0,80,0,7,0,81,0,7,0,82,0,7,0,83,0,4,0,84,0,
+34,0,23,0,9,0,48,0,9,0,49,0,19,0,50,0,9,0,51,0,
-32,0,22,0,29,0,64,0,16,0,65,0,14,0,66,0,14,0,67,0,
+17,0,52,0,17,0,53,0,13,0,54,0,13,0,55,0,13,0,56,0,
-14,0,68,0,14,0,69,0,14,0,70,0,14,0,71,0,14,0,72,0,
+7,0,57,0,7,0,58,0,7,0,59,0,7,0,60,0,7,0,61,0,
-14,0,73,0,14,0,74,0,8,0,75,0,8,0,76,0,8,0,77,0,
+7,0,62,0,7,0,63,0,4,0,64,0,4,0,65,0,4,0,66,0,
-8,0,78,0,8,0,79,0,8,0,80,0,8,0,81,0,8,0,82,0,
+4,0,67,0,4,0,68,0,4,0,69,0,4,0,70,0,35,0,21,0,
-8,0,83,0,4,0,84,0,0,0,14,0,};
+34,0,71,0,15,0,72,0,13,0,73,0,13,0,74,0,13,0,75,0,
+13,0,76,0,13,0,77,0,13,0,78,0,13,0,79,0,13,0,80,0,
+13,0,81,0,7,0,82,0,7,0,83,0,7,0,84,0,7,0,85,0,
+7,0,86,0,7,0,87,0,7,0,88,0,7,0,89,0,7,0,90,0,
+4,0,91,0,36,0,22,0,33,0,71,0,16,0,72,0,14,0,73,0,
+14,0,74,0,14,0,75,0,14,0,76,0,14,0,77,0,14,0,78,0,
+14,0,79,0,14,0,80,0,14,0,81,0,8,0,82,0,8,0,83,0,
+8,0,84,0,8,0,85,0,8,0,86,0,8,0,87,0,8,0,88,0,
+8,0,89,0,8,0,90,0,4,0,91,0,0,0,14,0,};
 int sBulletDNAlen64= sizeof(sBulletDNAstr64);
 
-
 unsigned char sBulletDNAstr[]= {
-83,68,78,65,78,65,77,69,85,0,0,0,109,95,115,105,122,101,0,109,
+83,68,78,65,78,65,77,69,92,0,0,0,109,95,115,105,122,101,0,109,
 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,
@@ -169,7 +180,12 @@ unsigned char sBulletDNAstr[]= {
 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,
-115,104,73,110,116,101,114,102,97,99,101,0,42,109,95,117,110,115,99,97,
+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,
@@ -219,7 +235,7 @@ unsigned char sBulletDNAstr[]= {
 110,101,97,114,83,108,101,101,112,105,110,103,84,104,114,101,115,104,111,108,
 100,0,109,95,97,110,103,117,108,97,114,83,108,101,101,112,105,110,103,84,
 104,114,101,115,104,111,108,100,0,109,95,97,100,100,105,116,105,111,110,97,
-108,68,97,109,112,105,110,103,0,0,0,0,84,89,80,69,33,0,0,0,
+108,68,97,109,112,105,110,103,0,0,0,0,84,89,80,69,37,0,0,0,
 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,
@@ -240,48 +256,56 @@ unsigned char sBulletDNAstr[]= {
 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,
-115,104,83,104,97,112,101,68,97,116,97,0,98,116,67,111,110,118,101,120,
+115,104,83,104,97,112,101,68,97,116,97,0,98,116,67,111,109,112,111,117,
-72,117,108,108,83,104,97,112,101,68,97,116,97,0,98,116,67,111,108,108,
+110,100,83,104,97,112,101,67,104,105,108,100,68,97,116,97,0,98,116,67,
-105,115,105,111,110,79,98,106,101,99,116,68,111,117,98,108,101,68,97,116,
+111,109,112,111,117,110,100,83,104,97,112,101,68,97,116,97,0,98,116,67,
-97,0,98,116,67,111,108,108,105,115,105,111,110,79,98,106,101,99,116,70,
+121,108,105,110,100,101,114,83,104,97,112,101,68,97,116,97,0,98,116,67,
-108,111,97,116,68,97,116,97,0,98,116,82,105,103,105,100,66,111,100,121,
+97,112,115,117,108,101,83,104,97,112,101,68,97,116,97,0,98,116,67,111,
-70,108,111,97,116,68,97,116,97,0,98,116,82,105,103,105,100,66,111,100,
+110,118,101,120,72,117,108,108,83,104,97,112,101,68,97,116,97,0,98,116,
-121,68,111,117,98,108,101,68,97,116,97,0,84,76,69,78,1,0,1,0,
+67,111,108,108,105,115,105,111,110,79,98,106,101,99,116,68,111,117,98,108,
-2,0,2,0,4,0,4,0,4,0,4,0,8,0,0,0,12,0,36,0,
+101,68,97,116,97,0,98,116,67,111,108,108,105,115,105,111,110,79,98,106,
-8,0,16,0,32,0,48,0,96,0,64,0,-128,0,12,0,52,0,20,0,
+101,99,116,70,108,111,97,116,68,97,116,97,0,98,116,82,105,103,105,100,
-64,0,4,0,4,0,24,0,28,0,48,0,68,0,-56,1,-8,0,-32,1,
+66,111,100,121,70,108,111,97,116,68,97,116,97,0,98,116,82,105,103,105,
--104,3,0,0,83,84,82,67,23,0,0,0,10,0,3,0,4,0,0,0,
+100,66,111,100,121,68,111,117,98,108,101,68,97,116,97,0,84,76,69,78,
-4,0,1,0,9,0,2,0,11,0,3,0,10,0,3,0,10,0,4,0,
+1,0,1,0,2,0,2,0,4,0,4,0,4,0,4,0,8,0,0,0,
-10,0,5,0,12,0,2,0,9,0,6,0,9,0,7,0,13,0,1,0,
+12,0,36,0,8,0,16,0,32,0,48,0,96,0,64,0,-128,0,12,0,
-7,0,8,0,14,0,1,0,8,0,8,0,15,0,1,0,13,0,9,0,
+52,0,20,0,64,0,4,0,4,0,24,0,28,0,48,0,76,0,24,0,
-16,0,1,0,14,0,9,0,17,0,2,0,15,0,10,0,13,0,11,0,
+60,0,60,0,68,0,-56,1,-8,0,-32,1,-104,3,0,0,83,84,82,67,
-18,0,2,0,16,0,10,0,14,0,11,0,19,0,3,0,9,0,12,0,
+27,0,0,0,10,0,3,0,4,0,0,0,4,0,1,0,9,0,2,0,
-4,0,13,0,0,0,14,0,20,0,5,0,19,0,15,0,13,0,16,0,
+11,0,3,0,10,0,3,0,10,0,4,0,10,0,5,0,12,0,2,0,
-13,0,17,0,7,0,18,0,4,0,19,0,21,0,2,0,13,0,20,0,
+9,0,6,0,9,0,7,0,13,0,1,0,7,0,8,0,14,0,1,0,
-7,0,21,0,22,0,4,0,20,0,22,0,21,0,23,0,4,0,24,0,
+8,0,8,0,15,0,1,0,13,0,9,0,16,0,1,0,14,0,9,0,
-0,0,14,0,23,0,1,0,4,0,25,0,24,0,2,0,2,0,26,0,
+17,0,2,0,15,0,10,0,13,0,11,0,18,0,2,0,16,0,10,0,
-2,0,25,0,25,0,6,0,13,0,27,0,14,0,28,0,23,0,29,0,
+14,0,11,0,19,0,3,0,9,0,12,0,4,0,13,0,0,0,14,0,
-24,0,30,0,4,0,31,0,4,0,32,0,26,0,4,0,25,0,33,0,
+20,0,5,0,19,0,15,0,13,0,16,0,13,0,17,0,7,0,18,0,
-13,0,34,0,4,0,35,0,0,0,14,0,27,0,4,0,19,0,15,0,
+4,0,19,0,21,0,2,0,13,0,20,0,7,0,21,0,22,0,4,0,
-26,0,36,0,7,0,18,0,0,0,14,0,28,0,5,0,20,0,22,0,
+20,0,22,0,21,0,23,0,4,0,24,0,0,0,14,0,23,0,1,0,
-13,0,37,0,14,0,38,0,4,0,39,0,0,0,40,0,29,0,24,0,
+4,0,25,0,24,0,2,0,2,0,26,0,2,0,25,0,25,0,6,0,
-9,0,41,0,9,0,42,0,19,0,43,0,9,0,44,0,18,0,45,0,
+13,0,27,0,14,0,28,0,23,0,29,0,24,0,30,0,4,0,31,0,
-18,0,46,0,14,0,47,0,14,0,48,0,14,0,49,0,8,0,50,0,
+4,0,32,0,26,0,4,0,25,0,33,0,13,0,34,0,4,0,35,0,
-8,0,51,0,8,0,52,0,8,0,53,0,8,0,54,0,8,0,55,0,
+0,0,14,0,27,0,4,0,19,0,15,0,26,0,36,0,7,0,18,0,
-8,0,56,0,4,0,57,0,4,0,58,0,4,0,59,0,4,0,60,0,
+0,0,14,0,28,0,4,0,17,0,37,0,19,0,38,0,4,0,39,0,
-4,0,61,0,4,0,62,0,4,0,63,0,0,0,14,0,30,0,23,0,
+7,0,40,0,29,0,4,0,19,0,15,0,28,0,41,0,4,0,42,0,
-9,0,41,0,9,0,42,0,19,0,43,0,9,0,44,0,17,0,45,0,
+7,0,18,0,30,0,3,0,20,0,22,0,4,0,43,0,0,0,14,0,
-17,0,46,0,13,0,47,0,13,0,48,0,13,0,49,0,7,0,50,0,
+31,0,3,0,20,0,22,0,4,0,43,0,0,0,14,0,32,0,5,0,
-7,0,51,0,7,0,52,0,7,0,53,0,7,0,54,0,7,0,55,0,
+20,0,22,0,13,0,44,0,14,0,45,0,4,0,46,0,0,0,47,0,
-7,0,56,0,4,0,57,0,4,0,58,0,4,0,59,0,4,0,60,0,
+33,0,24,0,9,0,48,0,9,0,49,0,19,0,50,0,9,0,51,0,
-4,0,61,0,4,0,62,0,4,0,63,0,31,0,21,0,30,0,64,0,
+18,0,52,0,18,0,53,0,14,0,54,0,14,0,55,0,14,0,56,0,
-15,0,65,0,13,0,66,0,13,0,67,0,13,0,68,0,13,0,69,0,
+8,0,57,0,8,0,58,0,8,0,59,0,8,0,60,0,8,0,61,0,
-13,0,70,0,13,0,71,0,13,0,72,0,13,0,73,0,13,0,74,0,
+8,0,62,0,8,0,63,0,4,0,64,0,4,0,65,0,4,0,66,0,
-7,0,75,0,7,0,76,0,7,0,77,0,7,0,78,0,7,0,79,0,
+4,0,67,0,4,0,68,0,4,0,69,0,4,0,70,0,0,0,14,0,
-7,0,80,0,7,0,81,0,7,0,82,0,7,0,83,0,4,0,84,0,
+34,0,23,0,9,0,48,0,9,0,49,0,19,0,50,0,9,0,51,0,
-32,0,22,0,29,0,64,0,16,0,65,0,14,0,66,0,14,0,67,0,
+17,0,52,0,17,0,53,0,13,0,54,0,13,0,55,0,13,0,56,0,
-14,0,68,0,14,0,69,0,14,0,70,0,14,0,71,0,14,0,72,0,
+7,0,57,0,7,0,58,0,7,0,59,0,7,0,60,0,7,0,61,0,
-14,0,73,0,14,0,74,0,8,0,75,0,8,0,76,0,8,0,77,0,
+7,0,62,0,7,0,63,0,4,0,64,0,4,0,65,0,4,0,66,0,
-8,0,78,0,8,0,79,0,8,0,80,0,8,0,81,0,8,0,82,0,
+4,0,67,0,4,0,68,0,4,0,69,0,4,0,70,0,35,0,21,0,
-8,0,83,0,4,0,84,0,0,0,14,0,};
+34,0,71,0,15,0,72,0,13,0,73,0,13,0,74,0,13,0,75,0,
+13,0,76,0,13,0,77,0,13,0,78,0,13,0,79,0,13,0,80,0,
+13,0,81,0,7,0,82,0,7,0,83,0,7,0,84,0,7,0,85,0,
+7,0,86,0,7,0,87,0,7,0,88,0,7,0,89,0,7,0,90,0,
+4,0,91,0,36,0,22,0,33,0,71,0,16,0,72,0,14,0,73,0,
+14,0,74,0,14,0,75,0,14,0,76,0,14,0,77,0,14,0,78,0,
+14,0,79,0,14,0,80,0,14,0,81,0,8,0,82,0,8,0,83,0,
+8,0,84,0,8,0,85,0,8,0,86,0,8,0,87,0,8,0,88,0,
+8,0,89,0,8,0,90,0,4,0,91,0,0,0,14,0,};
 int sBulletDNAlen= sizeof(sBulletDNAstr);

src/LinearMath/btSerializer.h

@@ -268,18 +268,18 @@ public:
 
 			if (VOID_IS_8)
 			{
-//#if _WIN64
+#if _WIN64
 				initDNA((const char*)sBulletDNAstr64,sBulletDNAlen64);
-//#else
+#else
-//				btAssert(0);
+				btAssert(0);
-//#endif
+#endif
 			} else
 			{
-//#ifndef _WIN64
+#ifndef _WIN64
 				initDNA((const char*)sBulletDNAstr,sBulletDNAlen);
-//#else
+#else
-//				btAssert(0);
+				btAssert(0);
-//#endif
+#endif
 			}
 
 		}

src/LinearMath/btTransform.h

@@ -210,6 +210,8 @@ public:
 
 	void	serialize(struct	btTransformData& dataOut) const;
 
+	void	serializeFloat(struct	btTransformFloatData& dataOut) const;
+
 	void	deSerialize(const struct	btTransformData& dataIn);
 
 	void	deSerializeDouble(const struct	btTransformDoubleData& dataIn);
@@ -270,6 +272,13 @@ SIMD_FORCE_INLINE	void	btTransform::serialize(btTransformData& dataOut) const
 	m_origin.serialize(dataOut.m_origin);
 }
 
+SIMD_FORCE_INLINE	void	btTransform::serializeFloat(btTransformFloatData& dataOut) const
+{
+	m_basis.serializeFloat(dataOut.m_basis);
+	m_origin.serializeFloat(dataOut.m_origin);
+}
+
+
 SIMD_FORCE_INLINE	void	btTransform::deSerialize(const btTransformData& dataIn)
 {
 	m_basis.deSerialize(dataIn.m_basis);