worked a bit more on the serialization, and added a preliminary SerializeDemo.

src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp

@@ -1235,6 +1235,25 @@ void	btCollisionWorld::debugDrawWorld()
 }
 
 
+void	btCollisionWorld::serializeCollisionObjects(btDefaultSerializer* serializer)
+{
+	int i;
+	//serialize all collision objects
+	for (i=0;i<m_collisionObjects.size();i++)
+	{
+		btCollisionObject* colObj = m_collisionObjects[i];
+		if (colObj->getInternalType() == btCollisionObject::CO_COLLISION_OBJECT)
+		{
+			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;
+		}
+	}
+}
+
 
 void	btCollisionWorld::serialize(btDefaultSerializer* serializer)
 {
@@ -1252,20 +1271,7 @@ void	btCollisionWorld::serialize(btDefaultSerializer* serializer)
 		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;
-	}
-
+	serializeCollisionObjects(serializer);
 	
 #if 0
 	{

src/BulletCollision/CollisionDispatch/btCollisionWorld.h

@@ -100,6 +100,8 @@ protected:
 	///it is true by default, because it is error-prone (setting the position of static objects wouldn't update their AABB)
 	bool m_forceUpdateAllAabbs;
 
+	void	serializeCollisionObjects(btDefaultSerializer* serializer);
+
 public:
 
 	//this constructor doesn't own the dispatcher and paircache/broadphase
@@ -422,8 +424,8 @@ 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);
+	///Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (Bullet/Demos/SerializeDemo)
+	virtual	void	serialize(btDefaultSerializer* serializer);
 
 };
 

src/BulletCollision/CollisionShapes/btBoxShape.h

@@ -323,6 +323,7 @@ public:
 
 struct	btBoxShapeData
 {
+	btCollisionShapeData	m_collisionShapeData;
 	btVector3Data	m_halfExtents;
 	btVector3Data	m_localScaling;
 };
@@ -338,6 +339,7 @@ SIMD_FORCE_INLINE	int	btBoxShape::calculateSerializeBufferSize()
 SIMD_FORCE_INLINE	const char*	btBoxShape::serialize(void* dataBuffer) const
 {
 	btBoxShapeData* boxData = (btBoxShapeData*) dataBuffer;
+	btCollisionShape::serialize(&boxData->m_collisionShapeData);
 
 	m_implicitShapeDimensions.serialize(boxData->m_halfExtents);
 	m_localScaling.serialize(boxData->m_localScaling);

src/BulletCollision/CollisionShapes/btCollisionShape.h

@@ -118,6 +118,11 @@ public:
 		return m_userPointer;
 	}
 
+	virtual	int	calculateSerializeBufferSize();
+
+	///fills the dataBuffer and returns the struct name (and 0 on failure)
+	virtual	const char*	serialize(void* dataBuffer) const;
+
 };	
 
 ///for serialization
@@ -128,6 +133,20 @@ struct	btCollisionShapeData
 	char	m_padding[4];
 };
 
+SIMD_FORCE_INLINE	int	btCollisionShape::calculateSerializeBufferSize()
+{
+	return sizeof(btCollisionShapeData);
+}
+
+///fills the dataBuffer and returns the struct name (and 0 on failure)
+SIMD_FORCE_INLINE	const char*	btCollisionShape::serialize(void* dataBuffer) const
+{
+	btCollisionShapeData* shapeData = (btCollisionShapeData*) dataBuffer;
+	shapeData->m_userPointer = m_userPointer;
+	shapeData->m_shapeType = m_shapeType;
+	//shapeData->m_padding//??
+	return "btCollisionShapeData";
+}
 
 #endif //COLLISION_SHAPE_H
 

src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp

@@ -43,7 +43,7 @@ subject to the following restrictions:
 #include "LinearMath/btQuickprof.h"
 #include "LinearMath/btMotionState.h"
 
-
+#include "LinearMath/btSerializer.h"
 
 
 
@@ -1078,3 +1078,47 @@ const btTypedConstraint* btDiscreteDynamicsWorld::getConstraint(int index) const
 }
 
 
+
+void	btDiscreteDynamicsWorld::serializeRigidBodies(btDefaultSerializer* serializer)
+{
+	int i;
+	//serialize all collision objects
+	for (i=0;i<m_collisionObjects.size();i++)
+	{
+		btCollisionObject* colObj = m_collisionObjects[i];
+		if (colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY)
+		{
+			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_RIGIDBODY_CODE;
+			chunk->m_oldPtr = colObj;
+		}
+	}
+}
+
+
+void	btDiscreteDynamicsWorld::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);
+	}
+
+	serializeRigidBodies(serializer);
+
+	serializeCollisionObjects(serializer);
+
+	serializer->writeDNA();
+}
+

src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h

@@ -77,7 +77,7 @@ protected:
 
 	virtual void	saveKinematicState(btScalar timeStep);
 
-	
+	void	serializeRigidBodies(btDefaultSerializer* serializer);
 
 public:
 
@@ -190,6 +190,9 @@ public:
 		return m_synchronizeAllMotionStates;
 	}
 
+	///Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (see Bullet/Demos/SerializeDemo)
+	virtual	void	serialize(btDefaultSerializer* serializer);
+
 };
 
 #endif //BT_DISCRETE_DYNAMICS_WORLD_H

src/BulletDynamics/Dynamics/btRigidBody.cpp

@@ -326,6 +326,9 @@ int	btRigidBody::calculateSerializeBufferSize()	const
 const char*	btRigidBody::serialize(void* dataBuffer) const
 {
 	btRigidBodyData* rbd = (btRigidBodyData*) dataBuffer;
+
+	btCollisionObject::serialize(&rbd->m_collisionObjectData);
+
 	m_invInertiaTensorWorld.serialize(rbd->m_invInertiaTensorWorld);
 	m_linearVelocity.serialize(rbd->m_linearVelocity);
 	m_angularVelocity.serialize(rbd->m_angularVelocity);
@@ -347,8 +350,6 @@ const char*	btRigidBody::serialize(void* dataBuffer) const
 	rbd->m_linearSleepingThreshold=m_linearSleepingThreshold;
 	rbd->m_angularSleepingThreshold = m_angularSleepingThreshold;
 
-	btCollisionObject::serialize(&rbd->m_collisionObjectData);
-
 	return "btRigidBodyData";
 }
 

src/BulletDynamics/Dynamics/btRigidBody.h

@@ -506,6 +506,8 @@ public:
 ///btRigidBodyData is used for btRigidBody serialization
 struct	btRigidBodyData
 {
+	btCollisionObjectData	m_collisionObjectData;
+
 	btMatrix3x3Data		m_invInertiaTensorWorld;
 	btVector3Data		m_linearVelocity;
 	btVector3Data		m_angularVelocity;
@@ -531,8 +533,6 @@ struct	btRigidBodyData
 
 	btScalar		m_linearSleepingThreshold;
 	btScalar		m_angularSleepingThreshold;
-
-	btCollisionObjectData	m_collisionObjectData;
 	
 };
 

src/LinearMath/btSerializer.h

@@ -86,9 +86,9 @@ public:
 
 		btDefaultSerializer(int totalSize)
 			:m_totalSize(totalSize),
-			m_currentSize(0)
-//			m_dna(0),
-//			m_dnaLength(0)
+			m_currentSize(0),
+			m_dna(0),
+			m_dnaLength(0)
 		{
 			m_buffer = (unsigned char*)btAlignedAlloc(16,totalSize);
 			m_currentSize += BT_HEADER_LENGTH;
@@ -165,6 +165,9 @@ public:
 
 		void initDNA(const char* bdna,int dnalen)
 		{
+			///was already initialized
+			if (m_dna)
+				return;
 
 			m_dna = btAlignedAlloc(dnalen,16);
 			memcpy(m_dna,bdna,dnalen);