Added preliminary binary serialization code in btCollisionWorld.cpp, with example in Bullet/Demos/BasicDemo.cpp

(work-in-progress, some initial working version should be ready very soon, for Bullet 2.76)

Demos/BasicDemo/BasicDemo.cpp

@@ -13,7 +13,7 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
+//#define TEST_SERIALIZATION 1
 
 ///create 125 (5x5x5) dynamic object
 #define ARRAY_SIZE_X 5
@@ -33,6 +33,10 @@ subject to the following restrictions:
 #include "GlutStuff.h"
 ///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
 #include "btBulletDynamicsCommon.h"
+#ifdef TEST_SERIALIZATION
+#include "LinearMath/btSerializer.h"
+#endif //TEST_SERIALIZATION
+
 #include <stdio.h> //printf debugging
 
 
@@ -166,9 +170,9 @@ void	BasicDemo::initPhysics()
 				for(int j = 0;j<ARRAY_SIZE_Z;j++)
 				{
 					startTransform.setOrigin(SCALING*btVector3(
-										2.0*i + start_x,
+										btScalar(2.0*i + start_x),
-										20+2.0*k + start_y,
+										btScalar(20+2.0*k + start_y),
-										2.0*j + start_z));
+										btScalar(2.0*j + start_z)));
 
 			
 					//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
@@ -187,6 +191,34 @@ void	BasicDemo::initPhysics()
 
 
 	clientResetScene();
+
+
+#ifdef TEST_SERIALIZATION
+	//test serializing this 
+
+	int maxSerializeBufferSize = 1024*1024*5;
+
+	btDefaultSerializer*	serializer = new btDefaultSerializer(maxSerializeBufferSize);
+	m_dynamicsWorld->serialize(serializer);
+	
+	FILE* f2 = fopen("testFile.bullet","wb");
+	fwrite(serializer->m_buffer,serializer->m_currentSize,1,f2);
+	fclose(f2);
+#endif
+
+#if 0
+	bParse::btBulletFile* bulletFile2 = new bParse::btBulletFile("testFile.bullet");
+	bool ok = (bulletFile2->getFlags()& bParse::FD_OK)!=0;
+	bool verboseDumpAllTypes = true;
+	if (ok)
+		bulletFile2->parse(verboseDumpAllTypes);
+	
+	if (verboseDumpAllTypes)
+	{
+		bulletFile2->dumpChunks(bulletFile2->getFileDNA());
+	}
+#endif //TEST_SERIALIZATION
+
 }
 	
 

Demos/OpenGL/Win32AppMain.cpp

@@ -90,6 +90,7 @@ int WINAPI WinMain(HINSTANCE hInstance, HINSTANCE hPrevInstance,
 	if (gDemoApplication->getDynamicsWorld())
 		gDemoApplication->getDynamicsWorld()->setDebugDrawer(&debugDraw);
 	
+	gDemoApplication->reshape(sWidth,sHeight);
 
 	// program main loop
 	while ( !quit )
@@ -383,7 +384,7 @@ void EnableOpenGL(HWND hWnd, HDC * hDC, HGLRC * hRC)
 	*hRC = wglCreateContext( *hDC );
 	wglMakeCurrent( *hDC, *hRC );
 	sOpenGLInitialized = true;
-	gDemoApplication->reshape(sWidth,sHeight);
+	
 	
 }
 

src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp

@@ -31,6 +31,7 @@ subject to the following restrictions:
 #include "LinearMath/btAabbUtil2.h"
 #include "LinearMath/btQuickprof.h"
 #include "LinearMath/btStackAlloc.h"
+#include "LinearMath/btSerializer.h"
 
 //#define USE_BRUTEFORCE_RAYBROADPHASE 1
 //RECALCULATE_AABB is slower, but benefit is that you don't need to call 'stepSimulation'  or 'updateAabbs' before using a rayTest
@@ -1228,4 +1229,52 @@ void	btCollisionWorld::debugDrawWorld()
 
 		}
 	}
+}
+
+
+
+void	btCollisionWorld::serialize(btDefaultSerializer* serializer)
+{
+	
+
+	const bool VOID_IS_8 = ((sizeof(void*)==8));
+
+	if (VOID_IS_8)
+	{
+		//64bit not yet supported (soon)
+		btAssert(0);
+		return;
+	} else
+	{
+		serializer->initDNA((const char*)sBulletDNAstr,sBulletDNAlen);
+	}
+
+	int i;
+
+	//serialize all collision objects
+	for (i=0;i<m_collisionObjects.size();i++)
+	{
+		btCollisionObject* colObj = m_collisionObjects[i];
+		int len = colObj->calculateSerializeBufferSize();
+		btChunk* chunk = serializer->allocate(len,1);
+		const char* structType = colObj->serialize(chunk->m_oldPtr);
+		chunk->m_dna_nr = serializer->getReverseType(structType);
+		chunk->m_chunkCode = BT_COLLISIONOBJECT_CODE;
+		chunk->m_oldPtr = colObj;
+	}
+
+	
+#if 0
+	{
+		//serialize all collision shapes
+	int len = boxShape->calculateSerializeBufferSize();
+	btChunk* chunk = serializer->allocate(len,1);
+	const char* structType = boxShape->serialize(chunk->m_oldPtr);
+	chunk->m_dna_nr = serializer->getReverseType(structType);
+	chunk->m_chunkCode = BT_BOXSHAPE_CODE;
+	chunk->m_oldPtr = boxShape;
+	}
+#endif
+
+	serializer->writeDNA();
 }

src/BulletCollision/CollisionDispatch/btCollisionWorld.h

@@ -68,6 +68,8 @@ class btStackAlloc;
 class btCollisionShape;
 class btConvexShape;
 class btBroadphaseInterface;
+class btDefaultSerializer;
+
 #include "LinearMath/btVector3.h"
 #include "LinearMath/btTransform.h"
 #include "btCollisionObject.h"
@@ -420,6 +422,9 @@ public:
 		m_forceUpdateAllAabbs = forceUpdateAllAabbs;
 	}
 
+	///Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (to be added in the Bullet/Extras)
+	void	serialize(btDefaultSerializer* serializer);
+
 };
 
 

src/LinearMath/CMakeLists.txt

@@ -5,34 +5,35 @@ INCLUDE_DIRECTORIES(
 
 SET(LinearMath_SRCS
 	btAlignedAllocator.cpp
-		btConvexHull.cpp
+	btConvexHull.cpp
-		btGeometryUtil.cpp
+	btGeometryUtil.cpp
 	btQuickprof.cpp
+	btSerializer.cpp
 )
 
 SET(LinearMath_HDRS
 	btAabbUtil2.h
 	btAlignedAllocator.h
-		btAlignedObjectArray.h
+	btAlignedObjectArray.h
 	btConvexHull.h
-		btDefaultMotionState.h
+	btDefaultMotionState.h
 	btGeometryUtil.h
-		btHashMap.h
+	btHashMap.h
 	btIDebugDraw.h
 	btList.h
 	btMatrix3x3.h
-		btMinMax.h
+	btMinMax.h
 	btMotionState.h
 	btPoolAllocator.h
 	btQuadWord.h
-		btQuaternion.h
+	btQuaternion.h
 	btQuickprof.h
 	btRandom.h
 	btScalar.h
 	btSerializer.h
-		btStackAlloc.h
+	btStackAlloc.h
-		btTransform.h
+	btTransform.h
-		btTransformUtil.h
+	btTransformUtil.h
 	btVector3.h
 )
 

src/LinearMath/btSerializer.cpp

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

src/LinearMath/btSerializer.h

@@ -18,6 +18,11 @@ subject to the following restrictions:
 
 #include "btScalar.h" // has definitions like SIMD_FORCE_INLINE
 #include "btStackAlloc.h"
+#include "btHashMap.h"
+
+///only the 32bit versions for now
+extern unsigned char sBulletDNAstr[];
+extern int sBulletDNAlen;
 
 class btChunk
 {
@@ -43,7 +48,15 @@ class btSerializer
 
 
 #define BT_HEADER_LENGTH 12
+#if defined(__sgi) || defined (__sparc) || defined (__sparc__) || defined (__PPC__) || defined (__ppc__) || defined (__BIG_ENDIAN__)
+#	define MAKE_ID(a,b,c,d) ( (int)(a)<<24 | (int)(b)<<16 | (c)<<8 | (d) )
+#else
+#	define MAKE_ID(a,b,c,d) ( (int)(d)<<24 | (int)(c)<<16 | (b)<<8 | (a) )
+#endif
 
+#define BT_COLLISIONOBJECT_CODE MAKE_ID('C','O','B','J')
+#define BT_RIGIDBODY_CODE		MAKE_ID('R','B','D','Y')
+#define BT_BOXSHAPE_CODE		MAKE_ID('B','O','X','S')
 
 class btDefaultSerializer
 {
@@ -59,7 +72,7 @@ public:
 
 	int					m_totalSize;
 	unsigned char*		m_buffer;
-	int					m_bufferPointer;
+	int					m_currentSize;
 	
 	
 	
@@ -70,12 +83,12 @@ public:
 
 		btDefaultSerializer(int totalSize)
 			:m_totalSize(totalSize),
-			m_bufferPointer(0)
+			m_currentSize(0)
 //			m_dna(0),
 //			m_dnaLength(0)
 		{
 			m_buffer = (unsigned char*)btAlignedAlloc(16,totalSize);
-			m_bufferPointer += BT_HEADER_LENGTH;
+			m_currentSize += BT_HEADER_LENGTH;
 
 			memcpy(m_buffer, "BULLET ", 7);
 			int endian= 1;
@@ -122,16 +135,16 @@ public:
 
 		void	writeDNA()
 		{
-			unsigned char* dnaTarget = m_buffer+m_bufferPointer;
+			unsigned char* dnaTarget = m_buffer+m_currentSize;
 			memcpy(dnaTarget,m_dna,m_dnaLength);
-			m_bufferPointer += m_dnaLength;
+			m_currentSize += m_dnaLength;
 		}
 
 		virtual	btChunk*	allocate(size_t size, int numElements)
 		{
 
-			unsigned char* ptr = m_buffer+m_bufferPointer;
+			unsigned char* ptr = m_buffer+m_currentSize;
-			m_bufferPointer += size*numElements+sizeof(btChunk);
+			m_currentSize += size*numElements+sizeof(btChunk);
 
 			unsigned char* data = ptr + sizeof(btChunk);