add missing Demos/BulletXmlImportDemo

serialize DynamicsWorldInfo

src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h

@@ -87,6 +87,7 @@ struct btContactSolverInfo : public btContactSolverInfoData
 		m_warmstartingFactor=btScalar(0.85);
 		//m_solverMode =  SOLVER_USE_WARMSTARTING |  SOLVER_SIMD | SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION|SOLVER_USE_2_FRICTION_DIRECTIONS|SOLVER_ENABLE_FRICTION_DIRECTION_CACHING;// | SOLVER_RANDMIZE_ORDER;
 		m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD;// | SOLVER_RANDMIZE_ORDER;
+		m_restingContactRestitutionThreshold = 2;//unused as of 2.81
 		m_minimumSolverBatchSize = 128; //try to combine islands until the amount of constraints reaches this limit
 		m_maxGyroscopicForce = 100.f; ///only used to clamp forces for bodies that have their BT_ENABLE_GYROPSCOPIC_FORCE flag set (using btRigidBody::setFlag)
 		m_singleAxisRollingFrictionThreshold = 1e30f;///if the velocity is above this threshold, it will use a single constraint row (axis), otherwise 3 rows.

src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp

@@ -1359,11 +1359,65 @@ void	btDiscreteDynamicsWorld::serializeRigidBodies(btSerializer* serializer)
 }
 
 
+
+
+void	btDiscreteDynamicsWorld::serializeDynamicsWorldInfo(btSerializer* serializer)
+{
+#ifdef BT_USE_DOUBLE_PRECISION
+		int len = sizeof(btDynamicsWorldDoubleData);
+		btChunk* chunk = serializer->allocate(len,1);
+		btDynamicsWorldDoubleData* worldInfo = (btDynamicsWorldDoubleData*)chunk->m_oldPtr;
+#else//BT_USE_DOUBLE_PRECISION
+		int len = sizeof(btDynamicsWorldFloatData);
+		btChunk* chunk = serializer->allocate(len,1);
+		btDynamicsWorldFloatData* worldInfo = (btDynamicsWorldFloatData*)chunk->m_oldPtr;
+#endif//BT_USE_DOUBLE_PRECISION
+
+		memset(worldInfo ,0x00,len);
+
+		m_gravity.serialize(worldInfo->m_gravity);
+		worldInfo->m_solverInfo.m_tau = getSolverInfo().m_tau;
+		worldInfo->m_solverInfo.m_damping = getSolverInfo().m_damping;
+		worldInfo->m_solverInfo.m_friction = getSolverInfo().m_friction;
+		worldInfo->m_solverInfo.m_timeStep = getSolverInfo().m_timeStep;
+
+		worldInfo->m_solverInfo.m_restitution = getSolverInfo().m_restitution;
+		worldInfo->m_solverInfo.m_maxErrorReduction = getSolverInfo().m_maxErrorReduction;
+		worldInfo->m_solverInfo.m_sor = getSolverInfo().m_sor;
+		worldInfo->m_solverInfo.m_erp = getSolverInfo().m_erp;
+
+		worldInfo->m_solverInfo.m_erp2 = getSolverInfo().m_erp2;
+		worldInfo->m_solverInfo.m_globalCfm = getSolverInfo().m_globalCfm;
+		worldInfo->m_solverInfo.m_splitImpulsePenetrationThreshold = getSolverInfo().m_splitImpulsePenetrationThreshold;
+		worldInfo->m_solverInfo.m_splitImpulseTurnErp = getSolverInfo().m_splitImpulseTurnErp;
+		
+		worldInfo->m_solverInfo.m_linearSlop = getSolverInfo().m_linearSlop;
+		worldInfo->m_solverInfo.m_warmstartingFactor = getSolverInfo().m_warmstartingFactor;
+		worldInfo->m_solverInfo.m_maxGyroscopicForce = getSolverInfo().m_maxGyroscopicForce;
+		worldInfo->m_solverInfo.m_singleAxisRollingFrictionThreshold = getSolverInfo().m_singleAxisRollingFrictionThreshold;
+		
+		worldInfo->m_solverInfo.m_numIterations = getSolverInfo().m_numIterations;
+		worldInfo->m_solverInfo.m_solverMode = getSolverInfo().m_solverMode;
+		worldInfo->m_solverInfo.m_restingContactRestitutionThreshold = getSolverInfo().m_restingContactRestitutionThreshold;
+		worldInfo->m_solverInfo.m_minimumSolverBatchSize = getSolverInfo().m_minimumSolverBatchSize;
+		
+		worldInfo->m_solverInfo.m_splitImpulse = getSolverInfo().m_splitImpulse;
+	
+#ifdef BT_USE_DOUBLE_PRECISION
+		const char* structType = "btDynamicsWorldDoubleData";
+#else//BT_USE_DOUBLE_PRECISION
+		const char* structType = "btDynamicsWorldFloatData";
+#endif//BT_USE_DOUBLE_PRECISION
+		serializer->finalizeChunk(chunk,structType,BT_DYNAMICSWORLD_CODE,worldInfo);
+}
+
 void	btDiscreteDynamicsWorld::serialize(btSerializer* serializer)
 {
 
 	serializer->startSerialization();
 
+	serializeDynamicsWorldInfo(serializer);
+
 	serializeRigidBodies(serializer);
 
 	serializeCollisionObjects(serializer);

src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h

@@ -87,6 +87,8 @@ protected:
 
 	void	serializeRigidBodies(btSerializer* serializer);
 
+	void	serializeDynamicsWorldInfo(btSerializer* serializer);
+
 public:
 
 

src/BulletSoftBody/btSoftRigidDynamicsWorld.cpp

@@ -353,6 +353,8 @@ void	btSoftRigidDynamicsWorld::serialize(btSerializer* serializer)
 
 	serializer->startSerialization();
 
+	serializeDynamicsWorldInfo( serializer);
+
 	serializeSoftBodies(serializer);
 
 	serializeRigidBodies(serializer);

src/LinearMath/btSerializer.h

@@ -122,6 +122,7 @@ public:
 #define BT_ARRAY_CODE			BT_MAKE_ID('A','R','A','Y')
 #define BT_SBMATERIAL_CODE		BT_MAKE_ID('S','B','M','T')
 #define BT_SBNODE_CODE			BT_MAKE_ID('S','B','N','D')
+#define BT_DYNAMICSWORLD_CODE	BT_MAKE_ID('D','W','L','D')
 #define BT_DNA_CODE				BT_MAKE_ID('D','N','A','1')