fix btCompoundShaps serialization of child shapes

added ConcaveDemo to cmake
added LinearMath/btSerializer.h to btBulletCollisionCommon.h

Demos/CMakeLists.txt

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

Demos/ConcaveDemo/CMakeLists.txt

@@ -9,17 +9,36 @@
 # You shouldn't have to modify anything below this line 
 ########################################################
 
+IF (USE_GLUT)
+	INCLUDE_DIRECTORIES(
+	${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL 
+	)
 
-INCLUDE_DIRECTORIES(
+	LINK_LIBRARIES(
-${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL 
+	OpenGLSupport BulletDynamics  BulletCollision LinearMath    ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
-)
+	)
 
-LINK_LIBRARIES(
+	ADD_EXECUTABLE(AppConcaveDemo
-OpenGLSupport BulletDynamics  BulletCollision LinearMath    ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
+        	ConcavePhysicsDemo.cpp
-)
+        	main.cpp
+	)
+ELSE (USE_GLUT)
+	
+	INCLUDE_DIRECTORIES(
+	${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL 
+	)
 
-ADD_EXECUTABLE(AppConcaveDemo
+	LINK_LIBRARIES(
-        ConcavePhysicsDemo.cpp
+	OpenGLSupport BulletDynamics  BulletCollision LinearMath   ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
-        main.cpp
+	)
-)
+
+	ADD_EXECUTABLE(AppConcaveDemo
+			WIN32
+			../OpenGL/Win32AppMain.cpp
+        	ConcavePhysicsDemo.cpp
+        	ConcaveDemo.h
+        	Win32ConcaveDemo.cpp
+	)
+
+ENDIF (USE_GLUT)
 

Demos/ConcaveDemo/ConcaveDemo.h

@@ -15,7 +15,14 @@ subject to the following restrictions:
 #ifndef CONCAVE_DEMO_H
 #define CONCAVE_DEMO_H
 
+#ifdef _WINDOWS
+#include "Win32DemoApplication.h"
+#define PlatformDemoApplication Win32DemoApplication
+#else
 #include "GlutDemoApplication.h"
+#define PlatformDemoApplication GlutDemoApplication
+#endif
+
 #include "LinearMath/btAlignedObjectArray.h"
 
 class btBroadphaseInterface;
@@ -29,7 +36,7 @@ class btTriangleIndexVertexArray;
 
 ///ConcaveDemo shows usage of static concave triangle meshes
 ///It also shows per-triangle material (friction/restitution) through CustomMaterialCombinerCallback
-class ConcaveDemo : public GlutDemoApplication
+class ConcaveDemo : public PlatformDemoApplication
 {
 
 	//keep the collision shapes, for deletion/cleanup

Demos/ConcaveDemo/ConcavePhysicsDemo.cpp

@@ -321,6 +321,7 @@ void	ConcaveDemo::initPhysics()
 	//enable custom material callback
 	staticBody->setCollisionFlags(staticBody->getCollisionFlags()  | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
 
+
 	
 	
 }
@@ -377,7 +378,7 @@ void ConcaveDemo::clientMoveAndDisplay()
 	renderme();
 
     glFlush();
-    glutSwapBuffers();
+    swapBuffers();
 
 }
 
@@ -396,7 +397,7 @@ void ConcaveDemo::displayCallback(void) {
 
 
     glFlush();
-    glutSwapBuffers();
+    swapBuffers();
 }
 
 

Demos/ConcaveDemo/Win32ConcaveDemo.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 "ConcaveDemo.h"
+
+///The 'createDemo' function is called from Bullet/Demos/OpenGL/Win32AppMain.cpp to instantiate this particular demo
+DemoApplication*	createDemo()
+{
+	return new ConcaveDemo();
+}
+
+#endif

Demos/OpenGL/DemoApplication.cpp

@@ -28,7 +28,7 @@ subject to the following restrictions:
 #include "GL_ShapeDrawer.h"
 #include "LinearMath/btQuickprof.h"
 #include "LinearMath/btDefaultMotionState.h"
-
+#include "LinearMath/btSerializer.h"
 #include "GLDebugFont.h"
 
 
@@ -369,6 +369,19 @@ void DemoApplication::keyboardCallback(unsigned char key, int x, int y)
 			m_debugMode |= btIDebugDraw::DBG_ProfileTimings;
 		break;
 
+	case '=':
+		{
+			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);
+			delete serializer;
+			break;
+
+		}
+
 	case 'm':
 		if (m_debugMode & btIDebugDraw::DBG_EnableSatComparison)
 			m_debugMode = m_debugMode & (~btIDebugDraw::DBG_EnableSatComparison);

src/BulletCollision/CollisionShapes/btCompoundShape.cpp

@@ -304,6 +304,13 @@ const char*	btCompoundShape::serialize(void* dataBuffer, btSerializer* serialize
 		{
 			memPtr->m_childMargin = float(m_children[i].m_childMargin);
 			memPtr->m_childShape = (btCollisionShapeData*)m_children[i].m_childShape;
+			
+			{
+				btChunk* chunk = serializer->allocate(m_children[i].m_childShape->calculateSerializeBufferSize(),1);
+				const char* structType = m_children[i].m_childShape->serialize(chunk->m_oldPtr,serializer);
+				serializer->finalizeChunk(chunk,structType,BT_SHAPE_CODE,m_children[i].m_childShape);
+			}
+
 			memPtr->m_childShapeType = m_children[i].m_childShapeType;
 			m_children[i].m_transform.serializeFloat(memPtr->m_transform);
 		}

src/btBulletCollisionCommon.h

@@ -61,6 +61,8 @@ subject to the following restrictions:
 #include "LinearMath/btDefaultMotionState.h"
 #include "LinearMath/btQuickprof.h"
 #include "LinearMath/btIDebugDraw.h"
+#include "LinearMath/btSerializer.h"
+
 
 #endif //BULLET_COLLISION_COMMON_H