Add serialization support for btGeneric6DofSpring2Constraint

Attempt to re-order serialization data so it can be serialized in-memory (for deep copy)

Extras/Serialize/BulletFileLoader/autogenerated/bullet.h

@@ -57,7 +57,6 @@ typedef struct bInvalidHandle {
     class btCompoundShapeChildData;
     class btCompoundShapeData;
     class btCylinderShapeData;
-    class btConeShapeData;
     class btCapsuleShapeData;
     class btTriangleInfoData;
     class btTriangleInfoMapData;
@@ -65,32 +64,18 @@ typedef struct bInvalidHandle {
     class btConvexHullShapeData;
     class btCollisionObjectDoubleData;
     class btCollisionObjectFloatData;
-    class btDynamicsWorldDoubleData;
-    class btDynamicsWorldFloatData;
     class btRigidBodyFloatData;
     class btRigidBodyDoubleData;
     class btConstraintInfo1;
-    class btTypedConstraintFloatData;
     class btTypedConstraintData;
-    class btTypedConstraintDoubleData;
     class btPoint2PointConstraintFloatData;
-    class btPoint2PointConstraintDoubleData2;
     class btPoint2PointConstraintDoubleData;
     class btHingeConstraintDoubleData;
     class btHingeConstraintFloatData;
-    class btHingeConstraintDoubleData2;
-    class btConeTwistConstraintDoubleData;
     class btConeTwistConstraintData;
     class btGeneric6DofConstraintData;
-    class btGeneric6DofConstraintDoubleData2;
     class btGeneric6DofSpringConstraintData;
-    class btGeneric6DofSpringConstraintDoubleData2;
     class btSliderConstraintData;
-    class btSliderConstraintDoubleData;
-    class btGearConstraintFloatData;
-    class btGearConstraintDoubleData;
-    class btContactSolverInfoDoubleData;
-    class btContactSolverInfoFloatData;
     class SoftBodyMaterialData;
     class SoftBodyNodeData;
     class SoftBodyLinkData;
@@ -436,16 +421,6 @@ typedef struct bInvalidHandle {
     };
 
 
-// -------------------------------------------------- //
-    class btConeShapeData
-    {
-    public:
-        btConvexInternalShapeData m_convexInternalShapeData;
-        int m_upIndex;
-        char m_padding[4];
-    };
-
-
 // -------------------------------------------------- //
     class btCapsuleShapeData
     {
@@ -528,7 +503,6 @@ typedef struct bInvalidHandle {
         double m_contactProcessingThreshold;
         double m_deactivationTime;
         double m_friction;
-        double m_rollingFriction;
         double m_restitution;
         double m_hitFraction;
         double m_ccdSweptSphereRadius;
@@ -560,7 +534,6 @@ typedef struct bInvalidHandle {
         float m_contactProcessingThreshold;
         float m_deactivationTime;
         float m_friction;
-        float m_rollingFriction;
         float m_restitution;
         float m_hitFraction;
         float m_ccdSweptSphereRadius;
@@ -572,25 +545,6 @@ typedef struct bInvalidHandle {
         int m_activationState1;
         int m_internalType;
         int m_checkCollideWith;
-        char m_padding[4];
-    };
-
-
-// -------------------------------------------------- //
-    class btDynamicsWorldDoubleData
-    {
-    public:
-        btContactSolverInfoDoubleData m_solverInfo;
-        btVector3DoubleData m_gravity;
-    };
-
-
-// -------------------------------------------------- //
-    class btDynamicsWorldFloatData
-    {
-    public:
-        btContactSolverInfoFloatData m_solverInfo;
-        btVector3FloatData m_gravity;
     };
 
 
@@ -660,26 +614,6 @@ typedef struct bInvalidHandle {
     };
 
 
-// -------------------------------------------------- //
-    class btTypedConstraintFloatData
-    {
-    public:
-        btRigidBodyFloatData *m_rbA;
-        btRigidBodyFloatData *m_rbB;
-        char *m_name;
-        int m_objectType;
-        int m_userConstraintType;
-        int m_userConstraintId;
-        int m_needsFeedback;
-        float m_appliedImpulse;
-        float m_dbgDrawSize;
-        int m_disableCollisionsBetweenLinkedBodies;
-        int m_overrideNumSolverIterations;
-        float m_breakingImpulseThreshold;
-        int m_isEnabled;
-    };
-
-
 // -------------------------------------------------- //
     class btTypedConstraintData
     {
@@ -700,27 +634,6 @@ typedef struct bInvalidHandle {
     };
 
 
-// -------------------------------------------------- //
-    class btTypedConstraintDoubleData
-    {
-    public:
-        btRigidBodyDoubleData *m_rbA;
-        btRigidBodyDoubleData *m_rbB;
-        char *m_name;
-        int m_objectType;
-        int m_userConstraintType;
-        int m_userConstraintId;
-        int m_needsFeedback;
-        double m_appliedImpulse;
-        double m_dbgDrawSize;
-        int m_disableCollisionsBetweenLinkedBodies;
-        int m_overrideNumSolverIterations;
-        double m_breakingImpulseThreshold;
-        int m_isEnabled;
-        char padding[4];
-    };
-
-
 // -------------------------------------------------- //
     class btPoint2PointConstraintFloatData
     {
@@ -731,16 +644,6 @@ typedef struct bInvalidHandle {
     };
 
 
-// -------------------------------------------------- //
-    class btPoint2PointConstraintDoubleData2
-    {
-    public:
-        btTypedConstraintDoubleData m_typeConstraintData;
-        btVector3DoubleData m_pivotInA;
-        btVector3DoubleData m_pivotInB;
-    };
-
-
 // -------------------------------------------------- //
     class btPoint2PointConstraintDoubleData
     {
@@ -791,44 +694,6 @@ typedef struct bInvalidHandle {
     };
 
 
-// -------------------------------------------------- //
-    class btHingeConstraintDoubleData2
-    {
-    public:
-        btTypedConstraintDoubleData m_typeConstraintData;
-        btTransformDoubleData m_rbAFrame;
-        btTransformDoubleData m_rbBFrame;
-        int m_useReferenceFrameA;
-        int m_angularOnly;
-        int m_enableAngularMotor;
-        double m_motorTargetVelocity;
-        double m_maxMotorImpulse;
-        double m_lowerLimit;
-        double m_upperLimit;
-        double m_limitSoftness;
-        double m_biasFactor;
-        double m_relaxationFactor;
-        char m_padding1[4];
-    };
-
-
-// -------------------------------------------------- //
-    class btConeTwistConstraintDoubleData
-    {
-    public:
-        btTypedConstraintDoubleData m_typeConstraintData;
-        btTransformDoubleData m_rbAFrame;
-        btTransformDoubleData m_rbBFrame;
-        double m_swingSpan1;
-        double m_swingSpan2;
-        double m_twistSpan;
-        double m_limitSoftness;
-        double m_biasFactor;
-        double m_relaxationFactor;
-        double m_damping;
-    };
-
-
 // -------------------------------------------------- //
     class btConeTwistConstraintData
     {
@@ -863,22 +728,6 @@ typedef struct bInvalidHandle {
     };
 
 
-// -------------------------------------------------- //
-    class btGeneric6DofConstraintDoubleData2
-    {
-    public:
-        btTypedConstraintDoubleData m_typeConstraintData;
-        btTransformDoubleData m_rbAFrame;
-        btTransformDoubleData m_rbBFrame;
-        btVector3DoubleData m_linearUpperLimit;
-        btVector3DoubleData m_linearLowerLimit;
-        btVector3DoubleData m_angularUpperLimit;
-        btVector3DoubleData m_angularLowerLimit;
-        int m_useLinearReferenceFrameA;
-        int m_useOffsetForConstraintFrame;
-    };
-
-
 // -------------------------------------------------- //
     class btGeneric6DofSpringConstraintData
     {
@@ -891,18 +740,6 @@ typedef struct bInvalidHandle {
     };
 
 
-// -------------------------------------------------- //
-    class btGeneric6DofSpringConstraintDoubleData2
-    {
-    public:
-        btGeneric6DofConstraintDoubleData2 m_6dofData;
-        int m_springEnabled[6];
-        double m_equilibriumPoint[6];
-        double m_springStiffness[6];
-        double m_springDamping[6];
-    };
-
-
 // -------------------------------------------------- //
     class btSliderConstraintData
     {
@@ -919,103 +756,6 @@ typedef struct bInvalidHandle {
     };
 
 
-// -------------------------------------------------- //
-    class btSliderConstraintDoubleData
-    {
-    public:
-        btTypedConstraintDoubleData m_typeConstraintData;
-        btTransformDoubleData m_rbAFrame;
-        btTransformDoubleData m_rbBFrame;
-        double m_linearUpperLimit;
-        double m_linearLowerLimit;
-        double m_angularUpperLimit;
-        double m_angularLowerLimit;
-        int m_useLinearReferenceFrameA;
-        int m_useOffsetForConstraintFrame;
-    };
-
-
-// -------------------------------------------------- //
-    class btGearConstraintFloatData
-    {
-    public:
-        btTypedConstraintFloatData m_typeConstraintData;
-        btVector3FloatData m_axisInA;
-        btVector3FloatData m_axisInB;
-        float m_ratio;
-        char m_padding[4];
-    };
-
-
-// -------------------------------------------------- //
-    class btGearConstraintDoubleData
-    {
-    public:
-        btTypedConstraintDoubleData m_typeConstraintData;
-        btVector3DoubleData m_axisInA;
-        btVector3DoubleData m_axisInB;
-        double m_ratio;
-    };
-
-
-// -------------------------------------------------- //
-    class btContactSolverInfoDoubleData
-    {
-    public:
-        double m_tau;
-        double m_damping;
-        double m_friction;
-        double m_timeStep;
-        double m_restitution;
-        double m_maxErrorReduction;
-        double m_sor;
-        double m_erp;
-        double m_erp2;
-        double m_globalCfm;
-        double m_splitImpulsePenetrationThreshold;
-        double m_splitImpulseTurnErp;
-        double m_linearSlop;
-        double m_warmstartingFactor;
-        double m_maxGyroscopicForce;
-        double m_singleAxisRollingFrictionThreshold;
-        int m_numIterations;
-        int m_solverMode;
-        int m_restingContactRestitutionThreshold;
-        int m_minimumSolverBatchSize;
-        int m_splitImpulse;
-        char m_padding[4];
-    };
-
-
-// -------------------------------------------------- //
-    class btContactSolverInfoFloatData
-    {
-    public:
-        float m_tau;
-        float m_damping;
-        float m_friction;
-        float m_timeStep;
-        float m_restitution;
-        float m_maxErrorReduction;
-        float m_sor;
-        float m_erp;
-        float m_erp2;
-        float m_globalCfm;
-        float m_splitImpulsePenetrationThreshold;
-        float m_splitImpulseTurnErp;
-        float m_linearSlop;
-        float m_warmstartingFactor;
-        float m_maxGyroscopicForce;
-        float m_singleAxisRollingFrictionThreshold;
-        int m_numIterations;
-        int m_solverMode;
-        int m_restingContactRestitutionThreshold;
-        int m_minimumSolverBatchSize;
-        int m_splitImpulse;
-        char m_padding[4];
-    };
-
-
 // -------------------------------------------------- //
     class SoftBodyMaterialData
     {

Extras/Serialize/makesdna/makesdna.cpp

@@ -144,6 +144,7 @@ typedef unsigned long uintptr_t;
 #include "BulletDynamics/ConstraintSolver/btConeTwistConstraint.h"
 #include "BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h"
 #include "BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h"
+#include "BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h"
 #include "BulletDynamics/ConstraintSolver/btSliderConstraint.h"
 #include "BulletDynamics/ConstraintSolver/btGearConstraint.h"
 #include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
@@ -192,6 +193,7 @@ char *includefiles[] = {
 	"../../../src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h",
 	"../../../src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h",
 	"../../../src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h",
+	"../../../src/BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h",
 	"../../../src/BulletDynamics/ConstraintSolver/btSliderConstraint.h",
 	"../../../src/BulletDynamics/ConstraintSolver/btGearConstraint.h",
 	"../../../src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h",

src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp

@@ -1512,15 +1512,6 @@ void	btCollisionWorld::debugDrawWorld()
 void	btCollisionWorld::serializeCollisionObjects(btSerializer* 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)
-		{
-			colObj->serializeSingleObject(serializer);
-		}
-	}
 
 	///keep track of shapes already serialized
 	btHashMap<btHashPtr,btCollisionShape*>	serializedShapes;
@@ -1537,6 +1528,15 @@ void	btCollisionWorld::serializeCollisionObjects(btSerializer* serializer)
 		}
 	}
 
+	//serialize all collision objects
+	for (i=0;i<m_collisionObjects.size();i++)
+	{
+		btCollisionObject* colObj = m_collisionObjects[i];
+		if (colObj->getInternalType() == btCollisionObject::CO_COLLISION_OBJECT)
+		{
+			colObj->serializeSingleObject(serializer);
+		}
+	}
 }
 
 

src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp

@@ -1456,10 +1456,10 @@ void	btDiscreteDynamicsWorld::serialize(btSerializer* serializer)
 
 	serializeDynamicsWorldInfo(serializer);
 
-	serializeRigidBodies(serializer);
-
 	serializeCollisionObjects(serializer);
 
+	serializeRigidBodies(serializer);
+
 	serializer->finishSerialization();
 }
 

src/LinearMath/btSerializer.h

@@ -98,6 +98,9 @@ public:
 
 	virtual void	setSerializationFlags(int flags) = 0;
 
+	virtual int getNumChunks() const = 0;
+
+	virtual const btChunk* getChunk(int chunkIndex) const = 0;
 
 };
 
@@ -134,11 +137,35 @@ struct	btPointerUid
 	};
 };
 
+struct btBulletSerializedArrays
+{
+	btBulletSerializedArrays()
+		:m_bulletDnaVersion(0)
+	{
+	}
+	btAlignedObjectArray<struct btQuantizedBvhDoubleData*>	m_bvhsDouble;
+	btAlignedObjectArray<struct btQuantizedBvhFloatData*>	m_bvhsFloat;
+	btAlignedObjectArray<struct btCollisionShapeData*> m_colShapeData;
+	btAlignedObjectArray<struct btDynamicsWorldDoubleData*> m_dynamicWorldInfoDataDouble;
+	btAlignedObjectArray<struct btDynamicsWorldFloatData*> m_dynamicWorldInfoDataFloat;
+	btAlignedObjectArray<struct btRigidBodyDoubleData*> m_rigidBodyDataDouble;
+	btAlignedObjectArray<struct btRigidBodyFloatData*> m_rigidBodyDataFloat;
+	btAlignedObjectArray<struct btCollisionObjectDoubleData*> m_collisionDataDouble;
+	btAlignedObjectArray<struct btCollisionObjectFloatData*> m_collisionDataFloat;
+	btAlignedObjectArray<struct btTypedConstraintFloatData*> m_constraintDataFloat;
+	btAlignedObjectArray<struct btTypedConstraintDoubleData*> m_constraintDataDouble;
+	btAlignedObjectArray<struct btTypedConstraintData*> m_constraintData;//for backwards compatibility
+	
+
+};
+
+
 ///The btDefaultSerializer is the main Bullet serialization class.
 ///The constructor takes an optional argument for backwards compatibility, it is recommended to leave this empty/zero.
 class btDefaultSerializer	:	public btSerializer
 {
 
+protected:
 
 	btAlignedObjectArray<char*>			mTypes;
 	btAlignedObjectArray<short*>			mStructs;
@@ -631,7 +658,15 @@ public:
 		{
 			m_serializationFlags = flags;
 		}
+		int getNumChunks() const
+		{
+			return m_chunkPtrs.size();
+		}
 
+		const btChunk* getChunk(int chunkIndex) const
+		{
+			return m_chunkPtrs[chunkIndex];
+		}
 };