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

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;
 	
 };