add support for double precision and 64bit serialization (and compatibility between all versions)

fix some issue in serialization of nested array data add some tesing files
2010-01-25 19:42:51 +00:00
parent 5d8e6dc3f3
commit e7ff71d99b
48 changed files with 1207 additions and 294 deletions
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -9,6 +9,13 @@ IF (NOT CMAKE_BUILD_TYPE)
 ENDIF (NOT CMAKE_BUILD_TYPE) 


+OPTION(USE_DOUBLE_PRECISION "Use double precision"	OFF)
+
+IF (USE_DOUBLE_PRECISION)
+ADD_DEFINITIONS( -DBT_USE_DOUBLE_PRECISION)
+ENDIF (USE_DOUBLE_PRECISION)
+
+

 IF (WIN32)
 OPTION(USE_GLUT "Use Glut"	OFF)
@@ -63,6 +70,7 @@ IF (USE_GLUT)
 	IF (MSVC)
 	MESSAGE ("GLUT NOT FOUND, trying to use Bullet/Glut/glut32.lib for MSVC")
 	SET(GLUT_glut_LIBRARY ${BULLET_PHYSICS_SOURCE_DIR}/Glut/glut32.lib)
+	#SET(GLUT_glut_LIBRARY ${BULLET_PHYSICS_SOURCE_DIR}/Glut/glut64.lib)
 	ENDIF (MSVC)
 	ENDIF (GLUT_FOUND)

--- a/Demos/ConvexDecompositionDemo/ConvexDecompositionDemo.cpp
+++ b/Demos/ConvexDecompositionDemo/ConvexDecompositionDemo.cpp
@@ -439,6 +439,7 @@ void ConvexDecompositionDemo::initPhysics(const char* filename)
 		cb.process(desc);
 		//now create some bodies
 		
+		if (1)
 		{
 			btCompoundShape* compound = new btCompoundShape(false);
 			m_collisionShapes.push_back (compound);
@@ -456,6 +457,7 @@ void ConvexDecompositionDemo::initPhysics(const char* filename)
 				btRigidBody* body = localCreateRigidBody( 1.0, trans,convexShape);

 			}
+#if 1
 			btScalar mass=10.f;
 			trans.setOrigin(-convexDecompositionObjectOffset);
 			btRigidBody* body = localCreateRigidBody( mass, trans,compound);
@@ -470,7 +472,7 @@ void ConvexDecompositionDemo::initPhysics(const char* filename)
 			trans.setOrigin(-convexDecompositionObjectOffset);
 			body = localCreateRigidBody( mass, trans,compound);
 			body->setCollisionFlags(body->getCollisionFlags() |   btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
-
+#endif
 		}

 		
@@ -499,8 +501,13 @@ void ConvexDecompositionDemo::initPhysics(const char* filename)
 	setupEmptyDynamicsWorld();

 	btBulletFileLoader* fileLoader = new btBulletFileLoader(m_dynamicsWorld);
+	fileLoader->setVerboseMode(true);

 	fileLoader->loadFileFromMemory("testFile.bullet");
+	//fileLoader->loadFileFromMemory("testFile64Double.bullet");
+	//fileLoader->loadFileFromMemory("testFile64Single.bullet");
+	//fileLoader->loadFileFromMemory("testFile32Single.bullet");
+	



--- a/Demos/ConvexDecompositionDemo/testFile32Single.bullet
+++ b/Demos/ConvexDecompositionDemo/testFile32Single.bullet
--- a/Demos/ConvexDecompositionDemo/testFile64Double.bullet
+++ b/Demos/ConvexDecompositionDemo/testFile64Double.bullet
--- a/Demos/ConvexDecompositionDemo/testFile64Single.bullet
+++ b/Demos/ConvexDecompositionDemo/testFile64Single.bullet
--- a/Demos/OpenGL/GL_DialogDynamicsWorld.cpp
+++ b/Demos/OpenGL/GL_DialogDynamicsWorld.cpp
@@ -343,7 +343,7 @@ static int gPickingConstraintId = 0;
 static btVector3 gOldPickingPos;
 static btVector3 gHitPos(-1,-1,-1);

-static float gOldPickingDist  = 0.f;
+static btScalar gOldPickingDist  = 0.f;

 bool GL_DialogDynamicsWorld::mouseFunc(int button, int state, int x, int y)
 {
@@ -719,7 +719,7 @@ void	GL_DialogDynamicsWorld::mouseMotionFunc(int x,int y)

 	}

-	float dx, dy;
+	btScalar dx, dy;
    dx = btScalar(x) - m_mouseOldX;
    dy = btScalar(y) - m_mouseOldY;

--- a/Extras/CMakeLists.txt
+++ b/Extras/CMakeLists.txt
@@ -1 +1 @@
-SUBDIRS( glui  ConvexDecomposition BulletColladaConverter LibXML COLLADA_DOM GIMPACTUtils Serialize)
+SUBDIRS( Serialize ConvexDecomposition GIMPACTUtils )
--- a/Extras/Serialize/BulletFileLoader/autogenerated/bullet.h
+++ b/Extras/Serialize/BulletFileLoader/autogenerated/bullet.h
@@ -22,11 +22,12 @@
 #include "bullet_PointerArray.h"
 #include "bullet_btPhysicsSystem.h"
 #include "bullet_ListBase.h"
-#include "bullet_btVector3Data.h"
 #include "bullet_btVector3FloatData.h"
 #include "bullet_btVector3DoubleData.h"
-#include "bullet_btMatrix3x3Data.h"
-#include "bullet_btTransformData.h"
+#include "bullet_btMatrix3x3FloatData.h"
+#include "bullet_btMatrix3x3DoubleData.h"
+#include "bullet_btTransformFloatData.h"
+#include "bullet_btTransformDoubleData.h"
 #include "bullet_btCollisionShapeData.h"
 #include "bullet_btConvexInternalShapeData.h"
 #include "bullet_btPositionAndRadius.h"
@@ -37,6 +38,8 @@
 #include "bullet_btStridingMeshInterfaceData.h"
 #include "bullet_btTriangleMeshShapeData.h"
 #include "bullet_btConvexHullShapeData.h"
-#include "bullet_btCollisionObjectData.h"
-#include "bullet_btRigidBodyData.h"
+#include "bullet_btCollisionObjectDoubleData.h"
+#include "bullet_btCollisionObjectFloatData.h"
+#include "bullet_btRigidBodyFloatData.h"
+#include "bullet_btRigidBodyDoubleData.h"
 #endif//__BULLET_H__
--- a/Extras/Serialize/BulletFileLoader/autogenerated/bullet_Common.h
+++ b/Extras/Serialize/BulletFileLoader/autogenerated/bullet_Common.h
@@ -29,11 +29,12 @@ namespace Bullet {
    class PointerArray;
    class btPhysicsSystem;
    class ListBase;
-    class btVector3Data;
    class btVector3FloatData;
    class btVector3DoubleData;
-    class btMatrix3x3Data;
-    class btTransformData;
+    class btMatrix3x3FloatData;
+    class btMatrix3x3DoubleData;
+    class btTransformFloatData;
+    class btTransformDoubleData;
    class btCollisionShapeData;
    class btConvexInternalShapeData;
    class btPositionAndRadius;
@@ -44,7 +45,9 @@ namespace Bullet {
    class btStridingMeshInterfaceData;
    class btTriangleMeshShapeData;
    class btConvexHullShapeData;
-    class btCollisionObjectData;
-    class btRigidBodyData;
+    class btCollisionObjectDoubleData;
+    class btCollisionObjectFloatData;
+    class btRigidBodyFloatData;
+    class btRigidBodyDoubleData;
 }
 #endif//__BULLETCOMMON_H__
--- a/Extras/Serialize/BulletFileLoader/autogenerated/bullet_btCollisionObjectDoubleData.h
+++ b/Extras/Serialize/BulletFileLoader/autogenerated/bullet_btCollisionObjectDoubleData.h
@@ -0,0 +1,64 @@
+/* Copyright (C) 2006-2009 Erwin Coumans & Charlie C
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+*
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+*
+* 1. The origin of this software must not be misrepresented; you must not
+*    claim that you wrote the original software. If you use this software
+*    in a product, an acknowledgment in the product documentation would be
+*    appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+*    misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+// Auto generated from makesdna dna.c
+#ifndef __BULLET_BTCOLLISIONOBJECTDOUBLEDATA__H__
+#define __BULLET_BTCOLLISIONOBJECTDOUBLEDATA__H__
+
+
+// -------------------------------------------------- //
+#include "bullet_Common.h"
+#include "bullet_btTransformDoubleData.h"
+#include "bullet_btVector3DoubleData.h"
+
+namespace Bullet {
+
+
+    // ---------------------------------------------- //
+    class btCollisionObjectDoubleData
+    {
+    public:
+        void *m_broadphaseHandle;
+        void *m_collisionShape;
+        btCollisionShapeData *m_rootCollisionShape;
+        void *m_userObjectPointer;
+        btTransformDoubleData m_worldTransform;
+        btTransformDoubleData m_interpolationWorldTransform;
+        btVector3DoubleData m_interpolationLinearVelocity;
+        btVector3DoubleData m_interpolationAngularVelocity;
+        btVector3DoubleData m_anisotropicFriction;
+        double m_contactProcessingThreshold;
+        double m_deactivationTime;
+        double m_friction;
+        double m_restitution;
+        double m_hitFraction;
+        double m_ccdSweptSphereRadius;
+        double m_ccdMotionThreshold;
+        int m_hasAnisotropicFriction;
+        int m_collisionFlags;
+        int m_islandTag1;
+        int m_companionId;
+        int m_activationState1;
+        int m_internalType;
+        int m_checkCollideWith;
+        char m_padding[4];
+    };
+}
+
+
+#endif//__BULLET_BTCOLLISIONOBJECTDOUBLEDATA__H__
--- a/Extras/Serialize/BulletFileLoader/autogenerated/bullet_btCollisionObjectFloatData.h
+++ b/Extras/Serialize/BulletFileLoader/autogenerated/bullet_btCollisionObjectFloatData.h
@@ -0,0 +1,63 @@
+/* Copyright (C) 2006-2009 Erwin Coumans & Charlie C
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+*
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+*
+* 1. The origin of this software must not be misrepresented; you must not
+*    claim that you wrote the original software. If you use this software
+*    in a product, an acknowledgment in the product documentation would be
+*    appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+*    misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+// Auto generated from makesdna dna.c
+#ifndef __BULLET_BTCOLLISIONOBJECTFLOATDATA__H__
+#define __BULLET_BTCOLLISIONOBJECTFLOATDATA__H__
+
+
+// -------------------------------------------------- //
+#include "bullet_Common.h"
+#include "bullet_btTransformFloatData.h"
+#include "bullet_btVector3FloatData.h"
+
+namespace Bullet {
+
+
+    // ---------------------------------------------- //
+    class btCollisionObjectFloatData
+    {
+    public:
+        void *m_broadphaseHandle;
+        void *m_collisionShape;
+        btCollisionShapeData *m_rootCollisionShape;
+        void *m_userObjectPointer;
+        btTransformFloatData m_worldTransform;
+        btTransformFloatData m_interpolationWorldTransform;
+        btVector3FloatData m_interpolationLinearVelocity;
+        btVector3FloatData m_interpolationAngularVelocity;
+        btVector3FloatData m_anisotropicFriction;
+        float m_contactProcessingThreshold;
+        float m_deactivationTime;
+        float m_friction;
+        float m_restitution;
+        float m_hitFraction;
+        float m_ccdSweptSphereRadius;
+        float m_ccdMotionThreshold;
+        int m_hasAnisotropicFriction;
+        int m_collisionFlags;
+        int m_islandTag1;
+        int m_companionId;
+        int m_activationState1;
+        int m_internalType;
+        int m_checkCollideWith;
+    };
+}
+
+
+#endif//__BULLET_BTCOLLISIONOBJECTFLOATDATA__H__
--- a/Extras/Serialize/BulletFileLoader/autogenerated/bullet_btConvexHullShapeData.h
+++ b/Extras/Serialize/BulletFileLoader/autogenerated/bullet_btConvexHullShapeData.h
@@ -33,9 +33,10 @@ namespace Bullet {
    {
    public:
        btConvexInternalShapeData m_convexInternalShapeData;
-        btVector3Data *m_unscaledPointsPtr;
+        btVector3FloatData *m_unscaledPointsFloatPtr;
+        btVector3DoubleData *m_unscaledPointsDoublePtr;
        int m_numUnscaledPoints;
-        char m_padding[4];
+        char m_padding3[4];
    };
 }

--- a/Extras/Serialize/BulletFileLoader/autogenerated/bullet_btConvexInternalShapeData.h
+++ b/Extras/Serialize/BulletFileLoader/autogenerated/bullet_btConvexInternalShapeData.h
@@ -24,7 +24,7 @@
 // -------------------------------------------------- //
 #include "bullet_Common.h"
 #include "bullet_btCollisionShapeData.h"
-#include "bullet_btVector3Data.h"
+#include "bullet_btVector3FloatData.h"

 namespace Bullet {

@@ -34,10 +34,10 @@ namespace Bullet {
    {
    public:
        btCollisionShapeData m_collisionShapeData;
-        btVector3Data m_localScaling;
-        btVector3Data m_implicitShapeDimensions;
-        btScalar m_collisionMargin;
-        char m_padding[4];
+        btVector3FloatData m_localScaling;
+        btVector3FloatData m_implicitShapeDimensions;
+        float m_collisionMargin;
+        int m_padding;
    };
 }

--- a/Extras/Serialize/BulletFileLoader/autogenerated/bullet_btMatrix3x3DoubleData.h
+++ b/Extras/Serialize/BulletFileLoader/autogenerated/bullet_btMatrix3x3DoubleData.h
@@ -0,0 +1,40 @@
+/* Copyright (C) 2006-2009 Erwin Coumans & Charlie C
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+*
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+*
+* 1. The origin of this software must not be misrepresented; you must not
+*    claim that you wrote the original software. If you use this software
+*    in a product, an acknowledgment in the product documentation would be
+*    appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+*    misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+// Auto generated from makesdna dna.c
+#ifndef __BULLET_BTMATRIX3X3DOUBLEDATA__H__
+#define __BULLET_BTMATRIX3X3DOUBLEDATA__H__
+
+
+// -------------------------------------------------- //
+#include "bullet_Common.h"
+#include "bullet_btVector3DoubleData.h"
+
+namespace Bullet {
+
+
+    // ---------------------------------------------- //
+    class btMatrix3x3DoubleData
+    {
+    public:
+        btVector3DoubleData m_el[3];
+    };
+}
+
+
+#endif//__BULLET_BTMATRIX3X3DOUBLEDATA__H__
--- a/Extras/Serialize/BulletFileLoader/autogenerated/bullet_btMatrix3x3FloatData.h
+++ b/Extras/Serialize/BulletFileLoader/autogenerated/bullet_btMatrix3x3FloatData.h
@@ -0,0 +1,40 @@
+/* Copyright (C) 2006-2009 Erwin Coumans & Charlie C
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+*
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+*
+* 1. The origin of this software must not be misrepresented; you must not
+*    claim that you wrote the original software. If you use this software
+*    in a product, an acknowledgment in the product documentation would be
+*    appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+*    misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+// Auto generated from makesdna dna.c
+#ifndef __BULLET_BTMATRIX3X3FLOATDATA__H__
+#define __BULLET_BTMATRIX3X3FLOATDATA__H__
+
+
+// -------------------------------------------------- //
+#include "bullet_Common.h"
+#include "bullet_btVector3FloatData.h"
+
+namespace Bullet {
+
+
+    // ---------------------------------------------- //
+    class btMatrix3x3FloatData
+    {
+    public:
+        btVector3FloatData m_el[3];
+    };
+}
+
+
+#endif//__BULLET_BTMATRIX3X3FLOATDATA__H__
--- a/Extras/Serialize/BulletFileLoader/autogenerated/bullet_btPositionAndRadius.h
+++ b/Extras/Serialize/BulletFileLoader/autogenerated/bullet_btPositionAndRadius.h
@@ -23,7 +23,7 @@

 // -------------------------------------------------- //
 #include "bullet_Common.h"
-#include "bullet_btVector3Data.h"
+#include "bullet_btVector3FloatData.h"

 namespace Bullet {

@@ -32,8 +32,8 @@ namespace Bullet {
    class btPositionAndRadius
    {
    public:
-        btVector3Data m_pos;
-        btScalar m_radius;
+        btVector3FloatData m_pos;
+        float m_radius;
    };
 }

--- a/Extras/Serialize/BulletFileLoader/autogenerated/bullet_btRigidBodyDoubleData.h
+++ b/Extras/Serialize/BulletFileLoader/autogenerated/bullet_btRigidBodyDoubleData.h
@@ -0,0 +1,63 @@
+/* Copyright (C) 2006-2009 Erwin Coumans & Charlie C
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+*
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+*
+* 1. The origin of this software must not be misrepresented; you must not
+*    claim that you wrote the original software. If you use this software
+*    in a product, an acknowledgment in the product documentation would be
+*    appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+*    misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+// Auto generated from makesdna dna.c
+#ifndef __BULLET_BTRIGIDBODYDOUBLEDATA__H__
+#define __BULLET_BTRIGIDBODYDOUBLEDATA__H__
+
+
+// -------------------------------------------------- //
+#include "bullet_Common.h"
+#include "bullet_btCollisionObjectDoubleData.h"
+#include "bullet_btMatrix3x3DoubleData.h"
+#include "bullet_btVector3DoubleData.h"
+
+namespace Bullet {
+
+
+    // ---------------------------------------------- //
+    class btRigidBodyDoubleData
+    {
+    public:
+        btCollisionObjectDoubleData m_collisionObjectData;
+        btMatrix3x3DoubleData m_invInertiaTensorWorld;
+        btVector3DoubleData m_linearVelocity;
+        btVector3DoubleData m_angularVelocity;
+        btVector3DoubleData m_angularFactor;
+        btVector3DoubleData m_linearFactor;
+        btVector3DoubleData m_gravity;
+        btVector3DoubleData m_gravity_acceleration;
+        btVector3DoubleData m_invInertiaLocal;
+        btVector3DoubleData m_totalForce;
+        btVector3DoubleData m_totalTorque;
+        double m_inverseMass;
+        double m_linearDamping;
+        double m_angularDamping;
+        double m_additionalDampingFactor;
+        double m_additionalLinearDampingThresholdSqr;
+        double m_additionalAngularDampingThresholdSqr;
+        double m_additionalAngularDampingFactor;
+        double m_linearSleepingThreshold;
+        double m_angularSleepingThreshold;
+        int m_additionalDamping;
+        char m_padding[4];
+    };
+}
+
+
+#endif//__BULLET_BTRIGIDBODYDOUBLEDATA__H__
--- a/Extras/Serialize/BulletFileLoader/autogenerated/bullet_btRigidBodyFloatData.h
+++ b/Extras/Serialize/BulletFileLoader/autogenerated/bullet_btRigidBodyFloatData.h
@@ -0,0 +1,62 @@
+/* Copyright (C) 2006-2009 Erwin Coumans & Charlie C
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+*
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+*
+* 1. The origin of this software must not be misrepresented; you must not
+*    claim that you wrote the original software. If you use this software
+*    in a product, an acknowledgment in the product documentation would be
+*    appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+*    misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+// Auto generated from makesdna dna.c
+#ifndef __BULLET_BTRIGIDBODYFLOATDATA__H__
+#define __BULLET_BTRIGIDBODYFLOATDATA__H__
+
+
+// -------------------------------------------------- //
+#include "bullet_Common.h"
+#include "bullet_btCollisionObjectFloatData.h"
+#include "bullet_btMatrix3x3FloatData.h"
+#include "bullet_btVector3FloatData.h"
+
+namespace Bullet {
+
+
+    // ---------------------------------------------- //
+    class btRigidBodyFloatData
+    {
+    public:
+        btCollisionObjectFloatData m_collisionObjectData;
+        btMatrix3x3FloatData m_invInertiaTensorWorld;
+        btVector3FloatData m_linearVelocity;
+        btVector3FloatData m_angularVelocity;
+        btVector3FloatData m_angularFactor;
+        btVector3FloatData m_linearFactor;
+        btVector3FloatData m_gravity;
+        btVector3FloatData m_gravity_acceleration;
+        btVector3FloatData m_invInertiaLocal;
+        btVector3FloatData m_totalForce;
+        btVector3FloatData m_totalTorque;
+        float m_inverseMass;
+        float m_linearDamping;
+        float m_angularDamping;
+        float m_additionalDampingFactor;
+        float m_additionalLinearDampingThresholdSqr;
+        float m_additionalAngularDampingThresholdSqr;
+        float m_additionalAngularDampingFactor;
+        float m_linearSleepingThreshold;
+        float m_angularSleepingThreshold;
+        int m_additionalDamping;
+    };
+}
+
+
+#endif//__BULLET_BTRIGIDBODYFLOATDATA__H__
--- a/Extras/Serialize/BulletFileLoader/autogenerated/bullet_btStridingMeshInterfaceData.h
+++ b/Extras/Serialize/BulletFileLoader/autogenerated/bullet_btStridingMeshInterfaceData.h
@@ -23,7 +23,7 @@

 // -------------------------------------------------- //
 #include "bullet_Common.h"
-#include "bullet_btVector3Data.h"
+#include "bullet_btVector3FloatData.h"

 namespace Bullet {

@@ -33,8 +33,8 @@ namespace Bullet {
    {
    public:
        btMeshPartData *m_meshPartsPtr;
+        btVector3FloatData m_scaling;
        int m_numMeshParts;
-        btVector3Data m_scaling;
        char m_padding[4];
    };
 }
--- a/Extras/Serialize/BulletFileLoader/autogenerated/bullet_btTransformDoubleData.h
+++ b/Extras/Serialize/BulletFileLoader/autogenerated/bullet_btTransformDoubleData.h
@@ -0,0 +1,42 @@
+/* Copyright (C) 2006-2009 Erwin Coumans & Charlie C
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+*
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+*
+* 1. The origin of this software must not be misrepresented; you must not
+*    claim that you wrote the original software. If you use this software
+*    in a product, an acknowledgment in the product documentation would be
+*    appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+*    misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+// Auto generated from makesdna dna.c
+#ifndef __BULLET_BTTRANSFORMDOUBLEDATA__H__
+#define __BULLET_BTTRANSFORMDOUBLEDATA__H__
+
+
+// -------------------------------------------------- //
+#include "bullet_Common.h"
+#include "bullet_btMatrix3x3DoubleData.h"
+#include "bullet_btVector3DoubleData.h"
+
+namespace Bullet {
+
+
+    // ---------------------------------------------- //
+    class btTransformDoubleData
+    {
+    public:
+        btMatrix3x3DoubleData m_basis;
+        btVector3DoubleData m_origin;
+    };
+}
+
+
+#endif//__BULLET_BTTRANSFORMDOUBLEDATA__H__
--- a/Extras/Serialize/BulletFileLoader/autogenerated/bullet_btTransformFloatData.h
+++ b/Extras/Serialize/BulletFileLoader/autogenerated/bullet_btTransformFloatData.h
@@ -0,0 +1,42 @@
+/* Copyright (C) 2006-2009 Erwin Coumans & Charlie C
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+*
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+*
+* 1. The origin of this software must not be misrepresented; you must not
+*    claim that you wrote the original software. If you use this software
+*    in a product, an acknowledgment in the product documentation would be
+*    appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+*    misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+// Auto generated from makesdna dna.c
+#ifndef __BULLET_BTTRANSFORMFLOATDATA__H__
+#define __BULLET_BTTRANSFORMFLOATDATA__H__
+
+
+// -------------------------------------------------- //
+#include "bullet_Common.h"
+#include "bullet_btMatrix3x3FloatData.h"
+#include "bullet_btVector3FloatData.h"
+
+namespace Bullet {
+
+
+    // ---------------------------------------------- //
+    class btTransformFloatData
+    {
+    public:
+        btMatrix3x3FloatData m_basis;
+        btVector3FloatData m_origin;
+    };
+}
+
+
+#endif//__BULLET_BTTRANSFORMFLOATDATA__H__
--- a/Extras/Serialize/BulletFileLoader/autogenerated/bullet_btTriangleMeshShapeData.h
+++ b/Extras/Serialize/BulletFileLoader/autogenerated/bullet_btTriangleMeshShapeData.h
@@ -23,6 +23,7 @@

 // -------------------------------------------------- //
 #include "bullet_Common.h"
+#include "bullet_btCollisionShapeData.h"
 #include "bullet_btStridingMeshInterfaceData.h"

 namespace Bullet {
@@ -32,10 +33,10 @@ namespace Bullet {
    class btTriangleMeshShapeData
    {
    public:
-        bInvalidHandle btCollisionShapeData;
-        bInvalidHandle m_collisionShapeData;
+        btCollisionShapeData m_collisionShapeData;
        btStridingMeshInterfaceData m_meshInterface;
-        btScalar m_collisionMargin;
+        float m_collisionMargin;
+        char m_padding[4];
    };
 }

--- a/Extras/Serialize/BulletFileLoader/bDNA.cpp
+++ b/Extras/Serialize/BulletFileLoader/bDNA.cpp
@@ -187,6 +187,8 @@ void bDNA::initCmpFlags(bDNA *memDNA)
 			mCMPFlags[i] = FDF_NONE;
 			continue;
 		}
+		//char* typeName = mTypes[oldStruct[0]];
+
 //#define SLOW_FORWARD_COMPATIBLE 1
 #ifdef SLOW_FORWARD_COMPATIBLE
 		char* typeName = mTypes[oldLookup];
@@ -227,6 +229,8 @@ void bDNA::initCmpFlags(bDNA *memDNA)
 					for (int j=0; j<elementLength; j++, curStruct+=2, oldStruct+=2)
 					{
 						// type the same
+						//const char* typeFileDNA = mTypes[oldStruct[0]];
+						//const char* typeMemDNA = mTypes[curStruct[0]];
 						if (strcmp(mTypes[oldStruct[0]], memDNA->mTypes[curStruct[0]])!=0)
 						{
 							isSame=false;
--- a/Extras/Serialize/BulletFileLoader/bFile.cpp
+++ b/Extras/Serialize/BulletFileLoader/bFile.cpp
@@ -109,20 +109,26 @@ void bFile::parseHeader()
 	memcpy(header, blenderBuf, SIZEOFBLENDERHEADER);
 	header[SIZEOFBLENDERHEADER]='\0';

-	if (strncmp(header, m_headerString, 7)!=0)
+	if (strncmp(header, m_headerString, 6)!=0)
 	{
-		printf ("Invalid blend file...");
+		memcpy(header, m_headerString, SIZEOFBLENDERHEADER);
+		printf ("Invalid %s file...",header);
 		return;
 	}

+	if (header[6] == 'd')
+	{
+		mFlags |= FD_DOUBLE_PRECISION;
+	}
+
 	char *ver = header+9;
 	mVersion = atoi(ver);
 	if (mVersion <= 241)
 		printf ("Warning, %d not fully tested : <= 242\n", mVersion);


-	int endian= 1;
-	endian= ((char*)&endian)[0];
+	int littleEndian= 1;
+	littleEndian= ((char*)&littleEndian)[0];

 	// swap ptr sizes...
 	if (header[7]=='-')
@@ -134,10 +140,10 @@ void bFile::parseHeader()
 	else if (VOID_IS_8) mFlags |= FD_BITS_VARIES;

 	// swap endian...
-	if (header[8]=='V' && endian ==1)
+	if (header[8]=='V' && littleEndian ==1)
 		mFlags |= FD_ENDIAN_SWAP;
 	else
-		if (endian==0)
+		if (littleEndian==0)
 			mFlags |= FD_ENDIAN_SWAP;


@@ -383,12 +389,25 @@ void bFile::parseStruct(char *strcPtr, char *dtPtr, int old_dna, int new_dna, bo
 			cpo = getFileElement(firstStruct, memName, memType, dtPtr, &filePtrOld);
 			if (cpo)
 			{
+				int arrayLen = mFileDNA->getArraySizeNew(filePtrOld[1]);
 				old_nr = mFileDNA->getReverseType(memType);
 				new_nr = revType;
 				fpLen = mFileDNA->getElementSize(filePtrOld[0], filePtrOld[1]);
+				if (arrayLen==1)
+				{
+					parseStruct(cpc, cpo, old_nr, new_nr,fixupPointers);
+				} else
+				{
+					char* tmpCpc = cpc;
+					char* tmpCpo = cpo;

-
-				parseStruct(cpc, cpo, old_nr, new_nr,fixupPointers);
+					for (int i=0;i<arrayLen;i++)
+					{
+						parseStruct(tmpCpc, tmpCpo, old_nr, new_nr,fixupPointers);
+						tmpCpc += size/arrayLen;
+						tmpCpo += fpLen/arrayLen;
+					}
+				}
 				cpc+=size;
 				cpo+=fpLen;
 			}
--- a/Extras/Serialize/BulletFileLoader/bFile.h
+++ b/Extras/Serialize/BulletFileLoader/bFile.h
@@ -31,7 +31,8 @@ namespace bParse {
 		FD_ENDIAN_SWAP      =4,
 		FD_FILE_64   =8,
 		FD_BITS_VARIES    =16,
-		FD_VERSION_VARIES = 32
+		FD_VERSION_VARIES = 32,
+		FD_DOUBLE_PRECISION =64
 	};


--- a/Extras/Serialize/BulletFileLoader/btBulletFile.cpp
+++ b/Extras/Serialize/BulletFileLoader/btBulletFile.cpp
@@ -20,11 +20,13 @@ subject to the following restrictions:


 // 32 && 64 bit versions
+//#ifdef _WIN64
+extern unsigned char sBulletDNAstr64[];
+extern int sBulletDNAlen64;
+//#else
 extern unsigned char sBulletDNAstr[];
 extern int sBulletDNAlen;
-
-//not yetto. extern unsigned char DNAstr64[];
-//not yetto. extern int DNAlen64;
+//#endif //_WIN64


 using namespace bParse;
@@ -33,7 +35,13 @@ btBulletFile::btBulletFile()
 :bFile("", "BULLET ")
 {
 	mMemoryDNA = new bDNA();
-	mMemoryDNA->init((char*)sBulletDNAstr,sBulletDNAlen);
+//#ifdef _WIN64
+	if (VOID_IS_8)
+		mMemoryDNA->init((char*)sBulletDNAstr64,sBulletDNAlen64);
+	else
+//#else
+		mMemoryDNA->init((char*)sBulletDNAstr,sBulletDNAlen);
+//#endif
 }


@@ -128,6 +136,9 @@ void btBulletFile::parseData()
 	//		{
 	//			m_glob = (bStructHandle*) id;
 	//		}
+		} else
+		{
+			printf("unknown chunk\n");
 		}

 		// next please!
@@ -158,17 +169,25 @@ void	btBulletFile::writeDNA(FILE* fp)
 	
 	if (VOID_IS_8)
 	{
-		//dataChunk.len = DNAlen64;
-		//dataChunk.oldPtr = DNAstr64;
-		//fwrite(&dataChunk,sizeof(bChunkInd),1,fp);
-		//fwrite(DNAstr64, DNAlen64,1,fp);
+//#ifdef _WIN64
+		dataChunk.len = sBulletDNAlen64;
+		dataChunk.oldPtr = sBulletDNAstr64;
+		fwrite(&dataChunk,sizeof(bChunkInd),1,fp);
+		fwrite(sBulletDNAstr64, sBulletDNAlen64,1,fp);
+//#else
+//		btAssert(0);
+//#endif
 	}
 	else
 	{
+//#ifndef _WIN64
 		dataChunk.len = sBulletDNAlen;
 		dataChunk.oldPtr = sBulletDNAstr;
 		fwrite(&dataChunk,sizeof(bChunkInd),1,fp);
 		fwrite(sBulletDNAstr, sBulletDNAlen,1,fp);
+//#else
+//		btAssert(0);
+//#endif
 	}
 }

@@ -177,12 +196,19 @@ void	btBulletFile::parse(bool verboseDumpAllTypes)
 {
 	if (VOID_IS_8)
 	{
-		exit(0);
-		//parseInternal(verboseDumpAllTypes,(char*)DNAstr64,DNAlen64);
+//#ifdef _WIN64
+		parseInternal(verboseDumpAllTypes,(char*)sBulletDNAstr64,sBulletDNAlen64);
+//#else
+//		btAssert(0);
+//#endif
 	}
 	else
 	{
+//#ifndef _WIN64
 		parseInternal(verboseDumpAllTypes,(char*)sBulletDNAstr,sBulletDNAlen);
+//#else
+//		btAssert(0);
+//#endif
 	}
 }

--- a/Extras/Serialize/BulletFileLoader/btBulletFileLoader.cpp
+++ b/Extras/Serialize/BulletFileLoader/btBulletFileLoader.cpp
@@ -4,6 +4,7 @@

 #include "btBulletDynamicsCommon.h"

+
 btBulletFileLoader::btBulletFileLoader(btDynamicsWorld* world)
 :m_dynamicsWorld(world),
 m_verboseDumpAllTypes(false)
@@ -12,7 +13,7 @@ m_verboseDumpAllTypes(false)

 bool	btBulletFileLoader::loadFileFromMemory( char* fileName)
 {
-	bParse::btBulletFile* bulletFile2 = new bParse::btBulletFile("testFile.bullet");
+	bParse::btBulletFile* bulletFile2 = new bParse::btBulletFile(fileName);

 	bool result = loadFileFromMemory(bulletFile2);

@@ -69,7 +70,7 @@ bool	btBulletFileLoader::loadFileFromMemory(  bParse::btBulletFile* bulletFile2)
 			{
 				btConvexInternalShapeData* bsd = (btConvexInternalShapeData*)shapeData;
 				btVector3 implicitShapeDimensions;
-				implicitShapeDimensions.deSerialize(bsd->m_implicitShapeDimensions);
+				implicitShapeDimensions.deSerializeFloat(bsd->m_implicitShapeDimensions);
 				btVector3 margin(bsd->m_collisionMargin,bsd->m_collisionMargin,bsd->m_collisionMargin);
 				btCollisionShape* shape = 0;
 				switch (shapeData->m_shapeType)
@@ -107,7 +108,7 @@ bool	btBulletFileLoader::loadFileFromMemory(  bParse::btBulletFile* bulletFile2)
 							tmpPos.resize(numSpheres);
 							for (int i=0;i<numSpheres;i++)
 							{
-								tmpPos[i].deSerialize(mss->m_localPositionArrayPtr[i].m_pos);
+								tmpPos[i].deSerializeFloat(mss->m_localPositionArrayPtr[i].m_pos);
 								radii[i] = mss->m_localPositionArrayPtr[i].m_radius;
 							}
 							shape = new btMultiSphereShape(&tmpPos[0],&radii[0],numSpheres);
@@ -115,6 +116,9 @@ bool	btBulletFileLoader::loadFileFromMemory(  bParse::btBulletFile* bulletFile2)
 						}
 					case CONVEX_HULL_SHAPE_PROXYTYPE:
 						{
+							int sz = sizeof(btConvexHullShapeData);
+							int sz2 = sizeof(btConvexInternalShapeData);
+							int sz3 = sizeof(btCollisionShapeData);
 							btConvexHullShapeData* convexData = (btConvexHullShapeData*)bsd;
 							int numPoints = convexData->m_numUnscaledPoints;

@@ -122,7 +126,17 @@ bool	btBulletFileLoader::loadFileFromMemory(  bParse::btBulletFile* bulletFile2)
 							tmpPoints.resize(numPoints);
 							for (int i=0;i<numPoints;i++)
 							{
-								tmpPoints[i].deSerialize(convexData->m_unscaledPointsPtr[i]);
+#ifdef BT_USE_DOUBLE_PRECISION
+							if (convexData->m_unscaledPointsDoublePtr)
+								tmpPoints[i].deSerialize(convexData->m_unscaledPointsDoublePtr[i]);
+							if (convexData->m_unscaledPointsFloatPtr)
+								tmpPoints[i].deSerializeFloat(convexData->m_unscaledPointsFloatPtr[i]);
+#else
+							if (convexData->m_unscaledPointsFloatPtr)
+								tmpPoints[i].deSerialize(convexData->m_unscaledPointsFloatPtr[i]);
+							if (convexData->m_unscaledPointsDoublePtr)
+								tmpPoints[i].deSerializeDouble(convexData->m_unscaledPointsDoublePtr[i]);
+#endif //BT_USE_DOUBLE_PRECISION
 							}
 							shape = new btConvexHullShape(&tmpPoints[0].getX(),numPoints,sizeof(btVector3));
 							break;
@@ -137,7 +151,7 @@ bool	btBulletFileLoader::loadFileFromMemory(  bParse::btBulletFile* bulletFile2)
 				{
 					shape->setMargin(bsd->m_collisionMargin);
 					btVector3 localScaling;
-					localScaling.deSerialize(bsd->m_localScaling);
+					localScaling.deSerializeFloat(bsd->m_localScaling);
 					shape->setLocalScaling(localScaling);
 					
 					shapeMap.insert(shapeData,shape);
@@ -179,7 +193,7 @@ bool	btBulletFileLoader::loadFileFromMemory(  bParse::btBulletFile* bulletFile2)
 				
 				meshInterface->addIndexedMesh(meshPart);
 			}
-			btVector3 scaling; scaling.deSerialize(trimesh->m_meshInterface.m_scaling);
+			btVector3 scaling; scaling.deSerializeFloat(trimesh->m_meshInterface.m_scaling);
 			meshInterface->setScaling(scaling);

 			btBvhTriangleMeshShape* trimeshShape = new btBvhTriangleMeshShape(meshInterface,true);
@@ -198,29 +212,53 @@ bool	btBulletFileLoader::loadFileFromMemory(  bParse::btBulletFile* bulletFile2)
 	}
 	for (i=0;i<bulletFile2->m_rigidBodies.size();i++)
 	{
-		btRigidBodyData* colObjData = (btRigidBodyData*)bulletFile2->m_rigidBodies[i];
-		btScalar mass = colObjData->m_inverseMass? 1.f/colObjData->m_inverseMass : 0.f;
-		btVector3 localInertia;
-		localInertia.setZero();
-		btCollisionShape** shapePtr = shapeMap.find(colObjData->m_collisionObjectData.m_collisionShape);
-		if (shapePtr && *shapePtr)
+		if (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION)
 		{
-			btTransform startTransform;
-			startTransform.deSerialize(colObjData->m_collisionObjectData.m_worldTransform);
-
-			btCollisionShape* shape = (btCollisionShape*)*shapePtr;
-			
-			if (mass)
+			btRigidBodyDoubleData* colObjData = (btRigidBodyDoubleData*)bulletFile2->m_rigidBodies[i];
+			btScalar mass = btScalar(colObjData->m_inverseMass? 1.f/colObjData->m_inverseMass : 0.f);
+			btVector3 localInertia;
+			localInertia.setZero();
+			btCollisionShape** shapePtr = shapeMap.find(colObjData->m_collisionObjectData.m_collisionShape);
+			if (shapePtr && *shapePtr)
 			{
-				shape->calculateLocalInertia(mass,localInertia);
+				btTransform startTransform;
+				startTransform.deSerializeDouble(colObjData->m_collisionObjectData.m_worldTransform);
+			//	startTransform.setBasis(btMatrix3x3::getIdentity());
+				btCollisionShape* shape = (btCollisionShape*)*shapePtr;
+				if (mass)
+				{
+					shape->calculateLocalInertia(mass,localInertia);
+				}
+				bool isDynamic = mass!=0.f;
+				createRigidBody(isDynamic,mass,startTransform,shape);
+			} else
+			{
+				printf("error: no shape found\n");
 			}
-			
-			bool isDynamic = mass!=0.f;
-			createRigidBody(isDynamic,mass,startTransform,shape);
-			
+	
 		} else
 		{
-			printf("error: no shape found\n");
+			btRigidBodyFloatData* colObjData = (btRigidBodyFloatData*)bulletFile2->m_rigidBodies[i];
+			btScalar mass = btScalar(colObjData->m_inverseMass? 1.f/colObjData->m_inverseMass : 0.f);
+			btVector3 localInertia;
+			localInertia.setZero();
+			btCollisionShape** shapePtr = shapeMap.find(colObjData->m_collisionObjectData.m_collisionShape);
+			if (shapePtr && *shapePtr)
+			{
+				btTransform startTransform;
+				startTransform.deSerializeFloat(colObjData->m_collisionObjectData.m_worldTransform);
+			//	startTransform.setBasis(btMatrix3x3::getIdentity());
+				btCollisionShape* shape = (btCollisionShape*)*shapePtr;
+				if (mass)
+				{
+					shape->calculateLocalInertia(mass,localInertia);
+				}
+				bool isDynamic = mass!=0.f;
+				createRigidBody(isDynamic,mass,startTransform,shape);
+			} else
+			{
+				printf("error: no shape found\n");
+			}
 		}
 	}

@@ -244,7 +282,7 @@ btTypedConstraint*			btBulletFileLoader::createUniversalD6Constraint(class btRig
 	return 0;
 }
 	
-btRigidBody*  btBulletFileLoader::createRigidBody(bool isDynamic, float mass, const btTransform& startTransform,btCollisionShape* shape)
+btRigidBody*  btBulletFileLoader::createRigidBody(bool isDynamic, btScalar mass, const btTransform& startTransform,btCollisionShape* shape)
 {
 	btVector3 localInertia;

--- a/Extras/Serialize/BulletFileLoader/btBulletFileLoader.h
+++ b/Extras/Serialize/BulletFileLoader/btBulletFileLoader.h
@@ -75,7 +75,7 @@ public:
 			);
 	
 	virtual btRigidBody*  createRigidBody(bool isDynamic, 
-		float mass, 
+		btScalar mass, 
 		const btTransform& startTransform,
 		btCollisionShape* shape);

--- a/Extras/Serialize/makesdna/makesdna.cpp
+++ b/Extras/Serialize/makesdna/makesdna.cpp
@@ -810,6 +810,7 @@ static int calculate_structlens(int firststruct)
 					// has_pointer is set or alphalen != len
 					if (has_pointer || alphalen != len) {
 						if (alphalen % 8) {
+							printf("alphalen = %d len = %d\n",alphalen,len);
 							printf("Sizeerror 8 in struct: %s (add %d bytes)\n", types[structtype], alphalen%8);
 							dna_error = 1;
 						}
@@ -945,7 +946,6 @@ int make_structDNA(char *baseDirectory, FILE *file)
 	add_type("float", 4);	/* 7 */
 	add_type("double", 8);	/* 8 */
 	add_type("void", 0);	/* 9 */
-	add_type("btScalar", 4);	/* 10 */ /* 4 bytes in single precision, 8 in double precision */

 	// the defines above shouldn't be output in the padding file...
 	firststruct = nr_types;
@@ -1175,7 +1175,14 @@ int main(int argc, char ** argv)
 				strcpy(baseDirectory, BASE_HEADER);
 			}

-			fprintf (file, "unsigned char sBulletDNAstr[]= {\n");
+			if (sizeof(void*)==8)
+			{
+				fprintf (file, "unsigned char sBulletDNAstr64[]= {\n");
+			} else
+			{
+				fprintf (file, "unsigned char sBulletDNAstr[]= {\n");
+			}
+
 			if (make_structDNA(baseDirectory, file)) {
 				// error
 				fclose(file);
@@ -1183,7 +1190,13 @@ int main(int argc, char ** argv)
 				return_status = 1;
 			} else {
 				fprintf(file, "};\n");
-				fprintf(file, "int sBulletDNAlen= sizeof(sBulletDNAstr);\n");
+				if (sizeof(void*)==8)
+				{
+					fprintf(file, "int sBulletDNAlen64= sizeof(sBulletDNAstr64);\n");
+				} else
+				{
+					fprintf(file, "int sBulletDNAlen= sizeof(sBulletDNAstr);\n");
+				}
 	
 				fclose(file);
 			}
--- a/src/BulletCollision/CollisionDispatch/btCollisionObject.h
+++ b/src/BulletCollision/CollisionDispatch/btCollisionObject.h
@@ -34,6 +34,14 @@ struct btCollisionShapeData;

 typedef btAlignedObjectArray<class btCollisionObject*> btCollisionObjectArray;

+#ifdef BT_USE_DOUBLE_PRECISION
+#define btCollisionObjectData btCollisionObjectDoubleData
+#define btCollisionObjectDataName "btCollisionObjectDoubleData"
+#else
+#define btCollisionObjectData btCollisionObjectFloatData
+#define btCollisionObjectDataName "btCollisionObjectFloatData"
+#endif
+

 /// btCollisionObject can be used to manage collision detection objects. 
 /// btCollisionObject maintains all information that is needed for a collision detection: Shape, Transform and AABB proxy.
@@ -427,34 +435,67 @@ public:
 ///using offsetof for m_vtablePadding might break some compilers, in that case define m_vtablePadding manually

 ///for serialization
-struct	btCollisionObjectData
+struct	btCollisionObjectDoubleData
 {
-	btTransformData			m_worldTransform;
-	btTransformData			m_interpolationWorldTransform;
-	btVector3Data			m_interpolationLinearVelocity;
-	btVector3Data			m_interpolationAngularVelocity;
-	btVector3Data			m_anisotropicFriction;
-	int						m_hasAnisotropicFriction;
-	btScalar				m_contactProcessingThreshold;	
 	void					*m_broadphaseHandle;
 	void					*m_collisionShape;
 	btCollisionShapeData	*m_rootCollisionShape;
+	void					*m_userObjectPointer;
+
+	btTransformDoubleData	m_worldTransform;
+	btTransformDoubleData	m_interpolationWorldTransform;
+	btVector3DoubleData		m_interpolationLinearVelocity;
+	btVector3DoubleData		m_interpolationAngularVelocity;
+	btVector3DoubleData		m_anisotropicFriction;
+	double					m_contactProcessingThreshold;	
+	double					m_deactivationTime;
+	double					m_friction;
+	double					m_restitution;
+	double					m_hitFraction; 
+	double					m_ccdSweptSphereRadius;
+	double					m_ccdMotionThreshold;
+
+	int						m_hasAnisotropicFriction;
 	int						m_collisionFlags;
 	int						m_islandTag1;
 	int						m_companionId;
 	int						m_activationState1;
-	btScalar				m_deactivationTime;
-	btScalar				m_friction;
-	btScalar				m_restitution;
 	int						m_internalType;
+	int						m_checkCollideWith;
+	char	m_padding[4];
+};
+
+struct	btCollisionObjectFloatData
+{
+	void					*m_broadphaseHandle;
+	void					*m_collisionShape;
+	btCollisionShapeData	*m_rootCollisionShape;
 	void					*m_userObjectPointer;
-	btScalar				m_hitFraction; 
-	btScalar				m_ccdSweptSphereRadius;
-	btScalar				m_ccdMotionThreshold;
+
+	btTransformFloatData	m_worldTransform;
+	btTransformFloatData	m_interpolationWorldTransform;
+	btVector3FloatData		m_interpolationLinearVelocity;
+	btVector3FloatData		m_interpolationAngularVelocity;
+	btVector3FloatData		m_anisotropicFriction;
+	float					m_contactProcessingThreshold;	
+	float					m_deactivationTime;
+	float					m_friction;
+	float					m_restitution;
+	float					m_hitFraction; 
+	float					m_ccdSweptSphereRadius;
+	float					m_ccdMotionThreshold;
+
+	int						m_hasAnisotropicFriction;
+	int						m_collisionFlags;
+	int						m_islandTag1;
+	int						m_companionId;
+	int						m_activationState1;
+	int						m_internalType;
 	int						m_checkCollideWith;
 };


+
 SIMD_FORCE_INLINE	int	btCollisionObject::calculateSerializeBufferSize() const
 {
 	return sizeof(btCollisionObjectData);
@@ -491,7 +532,7 @@ SIMD_FORCE_INLINE	const char* btCollisionObject::serialize(void* dataBuffer) con
 	dataOut->m_ccdMotionThreshold = m_ccdMotionThreshold;
 	dataOut->m_checkCollideWith = m_checkCollideWith;

-	return "btCollisionObjectData";
+	return btCollisionObjectDataName;
 }


--- a/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp
+++ b/src/BulletCollision/CollisionShapes/btConvexHullShape.cpp
@@ -189,22 +189,32 @@ bool btConvexHullShape::isInside(const btVector3& ,btScalar ) const
 ///fills the dataBuffer and returns the struct name (and 0 on failure)
 const char*	btConvexHullShape::serialize(void* dataBuffer, btSerializer* serializer) const
 {
+	int szc = sizeof(btConvexHullShapeData);
 	btConvexHullShapeData* shapeData = (btConvexHullShapeData*) dataBuffer;
 	btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData, serializer);

 	int numElem = m_unscaledPoints.size();
 	shapeData->m_numUnscaledPoints = numElem;
-	shapeData->m_unscaledPointsPtr = numElem ? (btVector3Data*)&m_unscaledPoints[0]:  0;
+#ifdef BT_USE_DOUBLE_PRECISION
+	shapeData->m_unscaledPointsFloatPtr = 0;
+	shapeData->m_unscaledPointsDoublePtr = numElem ? (btVector3Data*)&m_unscaledPoints[0]:  0;
+#else
+	shapeData->m_unscaledPointsFloatPtr = numElem ? (btVector3Data*)&m_unscaledPoints[0]:  0;
+	shapeData->m_unscaledPointsDoublePtr = 0;
+#endif
 	
 	if (numElem)
 	{
-		btChunk* chunk = serializer->allocate(sizeof(btVector3Data),numElem);
+		int sz = sizeof(btVector3Data);
+		int sz2 = sizeof(btVector3DoubleData);
+		int sz3 = sizeof(btVector3FloatData);
+		btChunk* chunk = serializer->allocate(sz,numElem);
 		btVector3Data* memPtr = (btVector3Data*)chunk->m_oldPtr;
 		for (int i=0;i<numElem;i++,memPtr++)
 		{
 			m_unscaledPoints[i].serialize(*memPtr);
 		}
-		serializer->finalizeChunk(chunk,"btVector3Data",BT_ARRAY_CODE,(void*)&m_unscaledPoints[0]);
+		serializer->finalizeChunk(chunk,btVector3DataName,BT_ARRAY_CODE,(void*)&m_unscaledPoints[0]);
 	}
 	
 	return "btConvexHullShapeData";
--- a/src/BulletCollision/CollisionShapes/btConvexHullShape.h
+++ b/src/BulletCollision/CollisionShapes/btConvexHullShape.h
@@ -101,12 +101,15 @@ struct	btConvexHullShapeData
 {
 	btConvexInternalShapeData	m_convexInternalShapeData;

-	btVector3Data	*m_unscaledPointsPtr;
+	btVector3FloatData	*m_unscaledPointsFloatPtr;
+	btVector3DoubleData	*m_unscaledPointsDoublePtr;
+
 	int		m_numUnscaledPoints;
-	char m_padding[4];
+	char m_padding3[4];

 };

+
 SIMD_FORCE_INLINE	int	btConvexHullShape::calculateSerializeBufferSize()
 {
 	return sizeof(btConvexHullShapeData);
--- a/src/BulletCollision/CollisionShapes/btConvexInternalShape.h
+++ b/src/BulletCollision/CollisionShapes/btConvexInternalShape.h
@@ -19,6 +19,7 @@ subject to the following restrictions:
 #include "btConvexShape.h"
 #include "LinearMath/btAabbUtil2.h"

+
 ///The btConvexInternalShape is an internal base class, shared by most convex shape implementations.
 class btConvexInternalShape : public btConvexShape
 {
@@ -118,19 +119,17 @@ public:
 };


-
-
 struct	btConvexInternalShapeData
 {
 	btCollisionShapeData	m_collisionShapeData;

-	btVector3Data	m_localScaling;
+	btVector3FloatData	m_localScaling;

-	btVector3Data	m_implicitShapeDimensions;
+	btVector3FloatData	m_implicitShapeDimensions;
 	
-	btScalar		m_collisionMargin;
+	float			m_collisionMargin;

-	char	m_padding[4];
+	int	m_padding;

 };

@@ -147,9 +146,9 @@ SIMD_FORCE_INLINE	const char*	btConvexInternalShape::serialize(void* dataBuffer,
 	btConvexInternalShapeData* shapeData = (btConvexInternalShapeData*) dataBuffer;
 	btCollisionShape::serialize(&shapeData->m_collisionShapeData, serializer);

-	m_implicitShapeDimensions.serialize(shapeData->m_implicitShapeDimensions);
-	m_localScaling.serialize(shapeData->m_localScaling);
-	shapeData->m_collisionMargin = m_collisionMargin;
+	m_implicitShapeDimensions.serializeFloat(shapeData->m_implicitShapeDimensions);
+	m_localScaling.serializeFloat(shapeData->m_localScaling);
+	shapeData->m_collisionMargin = float(m_collisionMargin);

 	return "btConvexInternalShapeData";
 }
--- a/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp
+++ b/src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp
@@ -155,8 +155,8 @@ const char*	btMultiSphereShape::serialize(void* dataBuffer, btSerializer* serial
 		btPositionAndRadius* memPtr = (btPositionAndRadius*)chunk->m_oldPtr;
 		for (int i=0;i<numElem;i++,memPtr++)
 		{
-			m_localPositionArray[i].serialize(memPtr->m_pos);
-			memPtr->m_radius = m_radiArray[i];
+			m_localPositionArray[i].serializeFloat(memPtr->m_pos);
+			memPtr->m_radius = float(m_radiArray[i]);
 		}
 		serializer->finalizeChunk(chunk,"btPositionAndRadius",BT_ARRAY_CODE,(void*)&m_localPositionArray[0]);
 	}
--- a/src/BulletCollision/CollisionShapes/btMultiSphereShape.h
+++ b/src/BulletCollision/CollisionShapes/btMultiSphereShape.h
@@ -21,6 +21,8 @@ subject to the following restrictions:
 #include "LinearMath/btAlignedObjectArray.h"
 #include "LinearMath/btAabbUtil2.h"

+
+
 ///The btMultiSphereShape represents the convex hull of a collection of spheres. You can create special capsules or other smooth volumes.
 ///It is possible to animate the spheres for deformation, but call 'recalcLocalAabb' after changing any sphere position/radius
 class btMultiSphereShape : public btConvexInternalAabbCachingShape
@@ -69,10 +71,11 @@ public:

 };

+
 struct	btPositionAndRadius
 {
-	btVector3Data	m_pos;
-	btScalar		m_radius;
+	btVector3FloatData	m_pos;
+	float		m_radius;
 };

 struct	btMultiSphereShapeData
@@ -82,9 +85,10 @@ struct	btMultiSphereShapeData
 	btPositionAndRadius	*m_localPositionArrayPtr;
 	int				m_localPositionArraySize;
 	char	m_padding[4];
-
 };

+
+
 SIMD_FORCE_INLINE	int	btMultiSphereShape::calculateSerializeBufferSize()
 {
 	return sizeof(btMultiSphereShapeData);
--- a/src/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp
+++ b/src/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp
@@ -327,6 +327,6 @@ const char*	btStridingMeshInterface::serialize(void* dataBuffer, btSerializer* s
 	}


-	m_scaling.serialize(trimeshData->m_scaling);
+	m_scaling.serializeFloat(trimeshData->m_scaling);
 	return "btStridingMeshInterfaceData";
 }
--- a/src/BulletCollision/CollisionShapes/btStridingMeshInterface.h
+++ b/src/BulletCollision/CollisionShapes/btStridingMeshInterface.h
@@ -22,6 +22,8 @@ subject to the following restrictions:



+
+
 ///	The btStridingMeshInterface is the interface class for high performance generic access to triangle meshes, used in combination with btBvhTriangleMeshShape and some other collision shapes.
 /// Using index striding of 3*sizeof(integer) it can use triangle arrays, using index striding of 1*sizeof(integer) it can handle triangle strips.
 /// It allows for sharing graphics and collision meshes. Also it provides locking/unlocking of graphics meshes that are in gpu memory.
@@ -118,19 +120,18 @@ struct	btMeshPartData
 	int                     m_numVertices;
 };

+
 struct	btStridingMeshInterfaceData
 {
 	btMeshPartData	*m_meshPartsPtr;
-
+	btVector3FloatData	m_scaling;
 	int	m_numMeshParts;
-
-	btVector3Data	m_scaling;
-
 	char m_padding[4];
-
 };


+
+
 SIMD_FORCE_INLINE	int	btStridingMeshInterface::calculateSerializeBufferSize()
 {
 	return sizeof(btStridingMeshInterfaceData);
--- a/src/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp
+++ b/src/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp
@@ -218,7 +218,7 @@ const char*	btTriangleMeshShape::serialize(void* dataBuffer, btSerializer* seria

 	m_meshInterface->serialize(&trimeshData->m_meshInterface, serializer);

-	trimeshData->m_collisionMargin = m_collisionMargin;
+	trimeshData->m_collisionMargin = float(m_collisionMargin);

 	return "btTriangleMeshShapeData";
 }
--- a/src/BulletCollision/CollisionShapes/btTriangleMeshShape.h
+++ b/src/BulletCollision/CollisionShapes/btTriangleMeshShape.h
@@ -20,6 +20,7 @@ subject to the following restrictions:
 #include "btStridingMeshInterface.h"


+
 ///The btTriangleMeshShape is an internal concave triangle mesh interface. Don't use this class directly, use btBvhTriangleMeshShape instead.
 class btTriangleMeshShape : public btConcaveShape
 {
@@ -90,14 +91,16 @@ public:

 struct	btTriangleMeshShapeData
 {
-	//btConcaveShapeData	m_concaveShapeData;
 	btCollisionShapeData	m_collisionShapeData;

 	btStridingMeshInterfaceData m_meshInterface;

-	btScalar	m_collisionMargin;
+	float	m_collisionMargin;
+
+	char m_padding[4];
 };

+
 SIMD_FORCE_INLINE	int	btTriangleMeshShape::calculateSerializeBufferSize()
 {
 	return sizeof(btTriangleMeshShapeData);
--- a/src/BulletDynamics/Character/btKinematicCharacterController.h
+++ b/src/BulletDynamics/Character/btKinematicCharacterController.h
@@ -67,7 +67,7 @@ protected:

 	bool	m_useGhostObjectSweepTest;
 	bool	m_useWalkDirection;
-	float	m_velocityTimeInterval;
+	btScalar	m_velocityTimeInterval;
 	int m_upAxis;
 	
 	btVector3 computeReflectionDirection (const btVector3& direction, const btVector3& normal);
--- a/src/BulletDynamics/Dynamics/btRigidBody.cpp
+++ b/src/BulletDynamics/Dynamics/btRigidBody.cpp
@@ -350,6 +350,6 @@ const char*	btRigidBody::serialize(void* dataBuffer) const
 	rbd->m_linearSleepingThreshold=m_linearSleepingThreshold;
 	rbd->m_angularSleepingThreshold = m_angularSleepingThreshold;

-	return "btRigidBodyData";
+	return btRigidBodyDataName;
 }

--- a/src/BulletDynamics/Dynamics/btRigidBody.h
+++ b/src/BulletDynamics/Dynamics/btRigidBody.h
@@ -29,6 +29,16 @@ class btTypedConstraint;
 extern btScalar gDeactivationTime;
 extern bool gDisableDeactivation;

+#ifdef BT_USE_DOUBLE_PRECISION
+#define btRigidBodyData	btRigidBodyDoubleData
+#define btRigidBodyDataName	"btRigidBodyDoubleData"
+#else
+#define btRigidBodyData	btRigidBodyFloatData
+#define btRigidBodyDataName	"btRigidBodyFloatData"
+#endif //BT_USE_DOUBLE_PRECISION
+
+
+

 ///The btRigidBody is the main class for rigid body objects. It is derived from btCollisionObject, so it keeps a pointer to a btCollisionShape.
 ///It is recommended for performance and memory use to share btCollisionShape objects whenever possible.
@@ -504,36 +514,55 @@ public:

 //@todo add m_optionalMotionState and m_constraintRefs to btRigidBodyData
 ///btRigidBodyData is used for btRigidBody serialization
-struct	btRigidBodyData
+struct	btRigidBodyFloatData
 {
-	btCollisionObjectData	m_collisionObjectData;
+	btCollisionObjectFloatData	m_collisionObjectData;
+	btMatrix3x3FloatData		m_invInertiaTensorWorld;
+	btVector3FloatData		m_linearVelocity;
+	btVector3FloatData		m_angularVelocity;
+	btVector3FloatData		m_angularFactor;
+	btVector3FloatData		m_linearFactor;
+	btVector3FloatData		m_gravity;	
+	btVector3FloatData		m_gravity_acceleration;
+	btVector3FloatData		m_invInertiaLocal;
+	btVector3FloatData		m_totalForce;
+	btVector3FloatData		m_totalTorque;
+	float					m_inverseMass;
+	float					m_linearDamping;
+	float					m_angularDamping;
+	float					m_additionalDampingFactor;
+	float					m_additionalLinearDampingThresholdSqr;
+	float					m_additionalAngularDampingThresholdSqr;
+	float					m_additionalAngularDampingFactor;
+	float					m_linearSleepingThreshold;
+	float					m_angularSleepingThreshold;
+	int						m_additionalDamping;
+};

-	btMatrix3x3Data		m_invInertiaTensorWorld;
-	btVector3Data		m_linearVelocity;
-	btVector3Data		m_angularVelocity;
-	btScalar			m_inverseMass;
-	btVector3Data		m_angularFactor;
-	btVector3Data		m_linearFactor;
-
-	btVector3Data		m_gravity;	
-	btVector3Data		m_gravity_acceleration;
-	btVector3Data		m_invInertiaLocal;
-	btVector3Data		m_totalForce;
-	btVector3Data		m_totalTorque;
-	
-	btScalar			m_linearDamping;
-	btScalar			m_angularDamping;
-
-	int				m_additionalDamping;
-	btScalar		m_additionalDampingFactor;
-	btScalar		m_additionalLinearDampingThresholdSqr;
-	btScalar		m_additionalAngularDampingThresholdSqr;
-	btScalar		m_additionalAngularDampingFactor;
-
-
-	btScalar		m_linearSleepingThreshold;
-	btScalar		m_angularSleepingThreshold;
-	
+struct	btRigidBodyDoubleData
+{
+	btCollisionObjectDoubleData	m_collisionObjectData;
+	btMatrix3x3DoubleData		m_invInertiaTensorWorld;
+	btVector3DoubleData		m_linearVelocity;
+	btVector3DoubleData		m_angularVelocity;
+	btVector3DoubleData		m_angularFactor;
+	btVector3DoubleData		m_linearFactor;
+	btVector3DoubleData		m_gravity;	
+	btVector3DoubleData		m_gravity_acceleration;
+	btVector3DoubleData		m_invInertiaLocal;
+	btVector3DoubleData		m_totalForce;
+	btVector3DoubleData		m_totalTorque;
+	double					m_inverseMass;
+	double					m_linearDamping;
+	double					m_angularDamping;
+	double					m_additionalDampingFactor;
+	double					m_additionalLinearDampingThresholdSqr;
+	double					m_additionalAngularDampingThresholdSqr;
+	double					m_additionalAngularDampingFactor;
+	double					m_linearSleepingThreshold;
+	double					m_angularSleepingThreshold;
+	int						m_additionalDamping;
+	char	m_padding[4];
 };


--- a/src/LinearMath/btConvexHull.cpp
+++ b/src/LinearMath/btConvexHull.cpp
@@ -1011,9 +1011,9 @@ bool  HullLibrary::CleanupVertices(unsigned int svcount,
 				btScalar y = v[1];
 				btScalar z = v[2];

-				btScalar dx = fabsf(x - px );
-				btScalar dy = fabsf(y - py );
-				btScalar dz = fabsf(z - pz );
+				btScalar dx = btFabs(x - px );
+				btScalar dy = btFabs(y - py );
+				btScalar dz = btFabs(z - pz );

 				if ( dx < normalepsilon && dy < normalepsilon && dz < normalepsilon )
 				{
--- a/src/LinearMath/btMatrix3x3.h
+++ b/src/LinearMath/btMatrix3x3.h
@@ -19,6 +19,11 @@ subject to the following restrictions:
 #include "btVector3.h"
 #include "btQuaternion.h"

+#ifdef BT_USE_DOUBLE_PRECISION
+#define btMatrix3x3Data	btMatrix3x3DoubleData 
+#else
+#define btMatrix3x3Data	btMatrix3x3FloatData
+#endif //BT_USE_DOUBLE_PRECISION


 /**@brief The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with btQuaternion, btTransform and btVector3.
@@ -500,6 +505,10 @@ public:

 	void	deSerialize(const struct	btMatrix3x3Data& dataIn);

+	void	deSerializeFloat(const struct	btMatrix3x3FloatData& dataIn);
+
+	void	deSerializeDouble(const struct	btMatrix3x3DoubleData& dataIn);
+
 };


@@ -628,11 +637,18 @@ SIMD_FORCE_INLINE bool operator==(const btMatrix3x3& m1, const btMatrix3x3& m2)
 }

 ///for serialization
-struct	btMatrix3x3Data
+struct	btMatrix3x3FloatData
 {
-	btVector3Data m_el[3];
+	btVector3FloatData m_el[3];
 };

+///for serialization
+struct	btMatrix3x3DoubleData
+{
+	btVector3DoubleData m_el[3];
+};
+
+
 	
 SIMD_FORCE_INLINE	void	btMatrix3x3::serialize(struct	btMatrix3x3Data& dataOut) const
 {
@@ -640,11 +656,24 @@ SIMD_FORCE_INLINE	void	btMatrix3x3::serialize(struct	btMatrix3x3Data& dataOut) c
 		m_el[i].serialize(dataOut.m_el[i]);
 }

+
 SIMD_FORCE_INLINE	void	btMatrix3x3::deSerialize(const struct	btMatrix3x3Data& dataIn)
 {
 	for (int i=0;i<3;i++)
 		m_el[i].deSerialize(dataIn.m_el[i]);
 }

+SIMD_FORCE_INLINE	void	btMatrix3x3::deSerializeFloat(const struct	btMatrix3x3FloatData& dataIn)
+{
+	for (int i=0;i<3;i++)
+		m_el[i].deSerializeFloat(dataIn.m_el[i]);
+}
+
+SIMD_FORCE_INLINE	void	btMatrix3x3::deSerializeDouble(const struct	btMatrix3x3DoubleData& dataIn)
+{
+	for (int i=0;i<3;i++)
+		m_el[i].deSerializeDouble(dataIn.m_el[i]);
+}
+
 #endif //BT_MATRIX3x3_H

--- a/src/LinearMath/btSerializer.cpp
+++ b/src/LinearMath/btSerializer.cpp
@@ -1,5 +1,6 @@
-unsigned char sBulletDNAstr[]= {
-83,68,78,65,78,65,77,69,83,0,0,0,109,95,115,105,122,101,0,109,
+
+unsigned char sBulletDNAstr64[]= {
+83,68,78,65,78,65,77,69,85,0,0,0,109,95,115,105,122,101,0,109,
 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,
@@ -12,115 +13,275 @@ unsigned char sBulletDNAstr[]= {
 109,95,108,111,99,97,108,83,99,97,108,105,110,103,0,109,95,105,109,112,
 108,105,99,105,116,83,104,97,112,101,68,105,109,101,110,115,105,111,110,115,
 0,109,95,99,111,108,108,105,115,105,111,110,77,97,114,103,105,110,0,109,
-95,112,111,115,0,109,95,114,97,100,105,117,115,0,109,95,99,111,110,118,
-101,120,73,110,116,101,114,110,97,108,83,104,97,112,101,68,97,116,97,0,
-42,109,95,108,111,99,97,108,80,111,115,105,116,105,111,110,65,114,114,97,
-121,80,116,114,0,109,95,108,111,99,97,108,80,111,115,105,116,105,111,110,
-65,114,114,97,121,83,105,122,101,0,109,95,118,97,108,117,101,0,105,110,
-116,0,42,109,95,118,101,114,116,105,99,101,115,51,102,0,42,109,95,118,
-101,114,116,105,99,101,115,51,100,0,42,109,95,105,110,100,105,99,101,115,
-51,50,0,42,109,95,105,110,100,105,99,101,115,49,54,0,109,95,110,117,
-109,84,114,105,97,110,103,108,101,115,0,109,95,110,117,109,86,101,114,116,
-105,99,101,115,0,42,109,95,109,101,115,104,80,97,114,116,115,80,116,114,
-0,109,95,110,117,109,77,101,115,104,80,97,114,116,115,0,109,95,115,99,
-97,108,105,110,103,0,98,116,67,111,108,108,105,115,105,111,110,83,104,97,
-112,101,68,97,116,97,0,109,95,109,101,115,104,73,110,116,101,114,102,97,
-99,101,0,42,109,95,117,110,115,99,97,108,101,100,80,111,105,110,116,115,
-80,116,114,0,109,95,110,117,109,85,110,115,99,97,108,101,100,80,111,105,
-110,116,115,0,109,95,119,111,114,108,100,84,114,97,110,115,102,111,114,109,
-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,
-105,100,101,87,105,116,104,0,109,95,99,111,108,108,105,115,105,111,110,79,
-98,106,101,99,116,68,97,116,97,0,109,95,105,110,118,73,110,101,114,116,
-105,97,84,101,110,115,111,114,87,111,114,108,100,0,109,95,108,105,110,101,
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+7,0,75,0,7,0,76,0,7,0,77,0,7,0,78,0,7,0,79,0,
+7,0,80,0,7,0,81,0,7,0,82,0,7,0,83,0,4,0,84,0,
+32,0,22,0,29,0,64,0,16,0,65,0,14,0,66,0,14,0,67,0,
+14,0,68,0,14,0,69,0,14,0,70,0,14,0,71,0,14,0,72,0,
+14,0,73,0,14,0,74,0,8,0,75,0,8,0,76,0,8,0,77,0,
+8,0,78,0,8,0,79,0,8,0,80,0,8,0,81,0,8,0,82,0,
+8,0,83,0,4,0,84,0,0,0,14,0,};
+int sBulletDNAlen64= sizeof(sBulletDNAstr64);
+
+
+unsigned char sBulletDNAstr[]= {
+83,68,78,65,78,65,77,69,85,0,0,0,109,95,115,105,122,101,0,109,
+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,
+116,0,109,95,102,108,111,97,116,115,91,52,93,0,109,95,101,108,91,51,
+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,
+95,99,111,108,108,105,115,105,111,110,83,104,97,112,101,68,97,116,97,0,
+109,95,108,111,99,97,108,83,99,97,108,105,110,103,0,109,95,105,109,112,
+108,105,99,105,116,83,104,97,112,101,68,105,109,101,110,115,105,111,110,115,
+0,109,95,99,111,108,108,105,115,105,111,110,77,97,114,103,105,110,0,109,
+95,112,97,100,100,105,110,103,0,109,95,112,111,115,0,109,95,114,97,100,
+105,117,115,0,109,95,99,111,110,118,101,120,73,110,116,101,114,110,97,108,
+83,104,97,112,101,68,97,116,97,0,42,109,95,108,111,99,97,108,80,111,
+115,105,116,105,111,110,65,114,114,97,121,80,116,114,0,109,95,108,111,99,
+97,108,80,111,115,105,116,105,111,110,65,114,114,97,121,83,105,122,101,0,
+109,95,118,97,108,117,101,0,105,110,116,0,42,109,95,118,101,114,116,105,
+99,101,115,51,102,0,42,109,95,118,101,114,116,105,99,101,115,51,100,0,
+42,109,95,105,110,100,105,99,101,115,51,50,0,42,109,95,105,110,100,105,
+99,101,115,49,54,0,109,95,110,117,109,84,114,105,97,110,103,108,101,115,
+0,109,95,110,117,109,86,101,114,116,105,99,101,115,0,42,109,95,109,101,
+115,104,80,97,114,116,115,80,116,114,0,109,95,115,99,97,108,105,110,103,
+0,109,95,110,117,109,77,101,115,104,80,97,114,116,115,0,109,95,109,101,
+115,104,73,110,116,101,114,102,97,99,101,0,42,109,95,117,110,115,99,97,
+108,101,100,80,111,105,110,116,115,70,108,111,97,116,80,116,114,0,42,109,
+95,117,110,115,99,97,108,101,100,80,111,105,110,116,115,68,111,117,98,108,
+101,80,116,114,0,109,95,110,117,109,85,110,115,99,97,108,101,100,80,111,
+105,110,116,115,0,109,95,112,97,100,100,105,110,103,51,91,52,93,0,42,
+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,
+114,111,111,116,67,111,108,108,105,115,105,111,110,83,104,97,112,101,0,42,
+109,95,117,115,101,114,79,98,106,101,99,116,80,111,105,110,116,101,114,0,
+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,
+99,70,114,105,99,116,105,111,110,0,109,95,99,111,110,116,97,99,116,80,
+114,111,99,101,115,115,105,110,103,84,104,114,101,115,104,111,108,100,0,109,
+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,
+111,110,0,109,95,104,105,116,70,114,97,99,116,105,111,110,0,109,95,99,
+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,
+0,109,95,104,97,115,65,110,105,115,111,116,114,111,112,105,99,70,114,105,
+99,116,105,111,110,0,109,95,99,111,108,108,105,115,105,111,110,70,108,97,
+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,
+111,110,83,116,97,116,101,49,0,109,95,105,110,116,101,114,110,97,108,84,
+121,112,101,0,109,95,99,104,101,99,107,67,111,108,108,105,100,101,87,105,
+116,104,0,109,95,99,111,108,108,105,115,105,111,110,79,98,106,101,99,116,
+68,97,116,97,0,109,95,105,110,118,73,110,101,114,116,105,97,84,101,110,
+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,
+105,116,121,0,109,95,97,110,103,117,108,97,114,70,97,99,116,111,114,0,
+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,
+95,116,111,116,97,108,84,111,114,113,117,101,0,109,95,105,110,118,101,114,
+115,101,77,97,115,115,0,109,95,108,105,110,101,97,114,68,97,109,112,105,
+110,103,0,109,95,97,110,103,117,108,97,114,68,97,109,112,105,110,103,0,
+109,95,97,100,100,105,116,105,111,110,97,108,68,97,109,112,105,110,103,70,
+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,
+104,114,101,115,104,111,108,100,0,109,95,97,100,100,105,116,105,111,110,97,
+108,68,97,109,112,105,110,103,0,0,0,0,84,89,80,69,33,0,0,0,
+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,
+108,111,97,116,0,100,111,117,98,108,101,0,118,111,105,100,0,80,111,105,
+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,
+116,111,114,51,70,108,111,97,116,68,97,116,97,0,98,116,86,101,99,116,
+111,114,51,68,111,117,98,108,101,68,97,116,97,0,98,116,77,97,116,114,
+105,120,51,120,51,70,108,111,97,116,68,97,116,97,0,98,116,77,97,116,
+114,105,120,51,120,51,68,111,117,98,108,101,68,97,116,97,0,98,116,84,
+114,97,110,115,102,111,114,109,70,108,111,97,116,68,97,116,97,0,98,116,
+84,114,97,110,115,102,111,114,109,68,111,117,98,108,101,68,97,116,97,0,
+98,116,67,111,108,108,105,115,105,111,110,83,104,97,112,101,68,97,116,97,
+0,98,116,67,111,110,118,101,120,73,110,116,101,114,110,97,108,83,104,97,
+112,101,68,97,116,97,0,98,116,80,111,115,105,116,105,111,110,65,110,100,
+82,97,100,105,117,115,0,98,116,77,117,108,116,105,83,112,104,101,114,101,
+83,104,97,112,101,68,97,116,97,0,98,116,73,110,116,73,110,100,101,120,
+68,97,116,97,0,98,116,83,104,111,114,116,73,110,116,73,110,100,101,120,
+68,97,116,97,0,98,116,77,101,115,104,80,97,114,116,68,97,116,97,0,
+98,116,83,116,114,105,100,105,110,103,77,101,115,104,73,110,116,101,114,102,
+97,99,101,68,97,116,97,0,98,116,84,114,105,97,110,103,108,101,77,101,
+115,104,83,104,97,112,101,68,97,116,97,0,98,116,67,111,110,118,101,120,
+72,117,108,108,83,104,97,112,101,68,97,116,97,0,98,116,67,111,108,108,
+105,115,105,111,110,79,98,106,101,99,116,68,111,117,98,108,101,68,97,116,
+97,0,98,116,67,111,108,108,105,115,105,111,110,79,98,106,101,99,116,70,
+108,111,97,116,68,97,116,97,0,98,116,82,105,103,105,100,66,111,100,121,
+70,108,111,97,116,68,97,116,97,0,98,116,82,105,103,105,100,66,111,100,
+121,68,111,117,98,108,101,68,97,116,97,0,84,76,69,78,1,0,1,0,
+2,0,2,0,4,0,4,0,4,0,4,0,8,0,0,0,12,0,36,0,
+8,0,16,0,32,0,48,0,96,0,64,0,-128,0,12,0,52,0,20,0,
+64,0,4,0,4,0,24,0,28,0,48,0,68,0,-56,1,-8,0,-32,1,
+-104,3,0,0,83,84,82,67,23,0,0,0,10,0,3,0,4,0,0,0,
+4,0,1,0,9,0,2,0,11,0,3,0,10,0,3,0,10,0,4,0,
+10,0,5,0,12,0,2,0,9,0,6,0,9,0,7,0,13,0,1,0,
+7,0,8,0,14,0,1,0,8,0,8,0,15,0,1,0,13,0,9,0,
+16,0,1,0,14,0,9,0,17,0,2,0,15,0,10,0,13,0,11,0,
+18,0,2,0,16,0,10,0,14,0,11,0,19,0,3,0,9,0,12,0,
+4,0,13,0,0,0,14,0,20,0,5,0,19,0,15,0,13,0,16,0,
+13,0,17,0,7,0,18,0,4,0,19,0,21,0,2,0,13,0,20,0,
+7,0,21,0,22,0,4,0,20,0,22,0,21,0,23,0,4,0,24,0,
+0,0,14,0,23,0,1,0,4,0,25,0,24,0,2,0,2,0,26,0,
+2,0,25,0,25,0,6,0,13,0,27,0,14,0,28,0,23,0,29,0,
+24,0,30,0,4,0,31,0,4,0,32,0,26,0,4,0,25,0,33,0,
+13,0,34,0,4,0,35,0,0,0,14,0,27,0,4,0,19,0,15,0,
+26,0,36,0,7,0,18,0,0,0,14,0,28,0,5,0,20,0,22,0,
+13,0,37,0,14,0,38,0,4,0,39,0,0,0,40,0,29,0,24,0,
+9,0,41,0,9,0,42,0,19,0,43,0,9,0,44,0,18,0,45,0,
+18,0,46,0,14,0,47,0,14,0,48,0,14,0,49,0,8,0,50,0,
+8,0,51,0,8,0,52,0,8,0,53,0,8,0,54,0,8,0,55,0,
+8,0,56,0,4,0,57,0,4,0,58,0,4,0,59,0,4,0,60,0,
+4,0,61,0,4,0,62,0,4,0,63,0,0,0,14,0,30,0,23,0,
+9,0,41,0,9,0,42,0,19,0,43,0,9,0,44,0,17,0,45,0,
+17,0,46,0,13,0,47,0,13,0,48,0,13,0,49,0,7,0,50,0,
+7,0,51,0,7,0,52,0,7,0,53,0,7,0,54,0,7,0,55,0,
+7,0,56,0,4,0,57,0,4,0,58,0,4,0,59,0,4,0,60,0,
+4,0,61,0,4,0,62,0,4,0,63,0,31,0,21,0,30,0,64,0,
+15,0,65,0,13,0,66,0,13,0,67,0,13,0,68,0,13,0,69,0,
+13,0,70,0,13,0,71,0,13,0,72,0,13,0,73,0,13,0,74,0,
+7,0,75,0,7,0,76,0,7,0,77,0,7,0,78,0,7,0,79,0,
+7,0,80,0,7,0,81,0,7,0,82,0,7,0,83,0,4,0,84,0,
+32,0,22,0,29,0,64,0,16,0,65,0,14,0,66,0,14,0,67,0,
+14,0,68,0,14,0,69,0,14,0,70,0,14,0,71,0,14,0,72,0,
+14,0,73,0,14,0,74,0,8,0,75,0,8,0,76,0,8,0,77,0,
+8,0,78,0,8,0,79,0,8,0,80,0,8,0,81,0,8,0,82,0,
+8,0,83,0,4,0,84,0,0,0,14,0,};
 int sBulletDNAlen= sizeof(sBulletDNAstr);
--- a/src/LinearMath/btSerializer.h
+++ b/src/LinearMath/btSerializer.h
@@ -23,9 +23,14 @@ subject to the following restrictions:
 #include <string.h>


+
 ///only the 32bit versions for now
 extern unsigned char sBulletDNAstr[];
 extern int sBulletDNAlen;
+extern unsigned char sBulletDNAstr64[];
+extern int sBulletDNAlen64;
+
+

 class btChunk
 {
@@ -263,12 +268,18 @@ public:

 			if (VOID_IS_8)
 			{
-				//64bit not yet supported (soon)
-				btAssert(0);
-				return;
+//#if _WIN64
+				initDNA((const char*)sBulletDNAstr64,sBulletDNAlen64);
+//#else
+//				btAssert(0);
+//#endif
 			} else
 			{
+//#ifndef _WIN64
 				initDNA((const char*)sBulletDNAstr,sBulletDNAlen);
+//#else
+//				btAssert(0);
+//#endif
 			}

 		}
@@ -282,28 +293,35 @@ public:
 		{
 			m_currentSize = BT_HEADER_LENGTH;

-			memcpy(m_buffer, "BULLET ", 7);
-			int endian= 1;
-			endian= ((char*)&endian)[0];
+#ifdef  BT_USE_DOUBLE_PRECISION
+			memcpy(m_buffer, "BULLETd", 7);
+#else
+			memcpy(m_buffer, "BULLETf", 7);
+#endif //BT_USE_DOUBLE_PRECISION
+	
+			int littleEndian= 1;
+			littleEndian= ((char*)&littleEndian)[0];

-			if (endian)
-			{
-				m_buffer[7] = '_';
-			} else
-			{
-				m_buffer[7] = '-';
-			}
 			if (sizeof(void*)==8)
 			{
-				m_buffer[8]='V';
+				m_buffer[7] = '-';
 			} else
 			{
-				m_buffer[8]='v';
+				m_buffer[7] = '_';
 			}

+			if (littleEndian)
+			{
+				m_buffer[8]='v';				
+			} else
+			{
+				m_buffer[8]='V';
+			}
+
+
 			m_buffer[9] = '2';
 			m_buffer[10] = '7';
-			m_buffer[11] = '5';
+			m_buffer[11] = '6';

 			
 		}
@@ -327,6 +345,7 @@ public:
 		virtual	void	finalizeChunk(btChunk* chunk, const char* structType, int chunkCode,void* oldPtr) const
 		{
 			chunk->m_dna_nr = getReverseType(structType);
+			
 			chunk->m_chunkCode = chunkCode;
 			chunk->m_oldPtr = oldPtr;
 		}
@@ -339,14 +358,14 @@ public:
 		{

 			unsigned char* ptr = m_buffer+m_currentSize;
-			m_currentSize += size*numElements+sizeof(btChunk);
+			m_currentSize += int(size)*numElements+sizeof(btChunk);

 			unsigned char* data = ptr + sizeof(btChunk);
 			
 			btChunk* chunk = (btChunk*)ptr;
 			chunk->m_chunkCode = 0;
 			chunk->m_oldPtr = data;
-			chunk->m_length = size*numElements;
+			chunk->m_length = int(size)*numElements;
 			chunk->m_number = numElements;
 			
 			m_chunkPtrs.push_back(chunk);
--- a/src/LinearMath/btTransform.h
+++ b/src/LinearMath/btTransform.h
@@ -20,6 +20,13 @@ subject to the following restrictions:

 #include "btMatrix3x3.h"

+#ifdef BT_USE_DOUBLE_PRECISION
+#define btTransformData btTransformDoubleData
+#else
+#define btTransformData btTransformFloatData
+#endif
+
+


 /**@brief The btTransform class supports rigid transforms with only translation and rotation and no scaling/shear.
@@ -205,6 +212,10 @@ public:

 	void	deSerialize(const struct	btTransformData& dataIn);

+	void	deSerializeDouble(const struct	btTransformDoubleData& dataIn);
+
+	void	deSerializeFloat(const struct	btTransformFloatData& dataIn);
+
 };


@@ -237,13 +248,22 @@ SIMD_FORCE_INLINE bool operator==(const btTransform& t1, const btTransform& t2)
            t1.getOrigin() == t2.getOrigin() );
 }

+
 ///for serialization
-struct	btTransformData
+struct	btTransformFloatData
 {
-	btMatrix3x3Data	m_basis;
-	btVector3Data	m_origin;
+	btMatrix3x3FloatData	m_basis;
+	btVector3FloatData	m_origin;
 };

+struct	btTransformDoubleData
+{
+	btMatrix3x3DoubleData	m_basis;
+	btVector3DoubleData	m_origin;
+};
+
+
+
 SIMD_FORCE_INLINE	void	btTransform::serialize(btTransformData& dataOut) const
 {
 	m_basis.serialize(dataOut.m_basis);
@@ -256,6 +276,19 @@ SIMD_FORCE_INLINE	void	btTransform::deSerialize(const btTransformData& dataIn)
 	m_origin.deSerialize(dataIn.m_origin);
 }

+SIMD_FORCE_INLINE	void	btTransform::deSerializeFloat(const btTransformFloatData& dataIn)
+{
+	m_basis.deSerializeFloat(dataIn.m_basis);
+	m_origin.deSerializeFloat(dataIn.m_origin);
+}
+
+SIMD_FORCE_INLINE	void	btTransform::deSerializeDouble(const btTransformDoubleData& dataIn)
+{
+	m_basis.deSerializeDouble(dataIn.m_basis);
+	m_origin.deSerializeDouble(dataIn.m_origin);
+}
+
+
 #endif


--- a/src/LinearMath/btVector3.h
+++ b/src/LinearMath/btVector3.h
@@ -21,6 +21,14 @@ subject to the following restrictions:
 #include "btScalar.h"
 #include "btMinMax.h"

+#ifdef BT_USE_DOUBLE_PRECISION
+#define btVector3Data btVector3DoubleData
+#define btVector3DataName "btVector3DoubleData"
+#else
+#define btVector3Data btVector3FloatData
+#define btVector3DataName "btVector3FloatData"
+#endif //BT_USE_DOUBLE_PRECISION
+



@@ -330,10 +338,18 @@ public:
 			return length2() < SIMD_EPSILON;
 		}

-
 		SIMD_FORCE_INLINE	void	serialize(struct	btVector3Data& dataOut) const;

 		SIMD_FORCE_INLINE	void	deSerialize(const struct	btVector3Data& dataIn);
+
+		SIMD_FORCE_INLINE	void	serializeFloat(struct	btVector3FloatData& dataOut) const;
+
+		SIMD_FORCE_INLINE	void	deSerializeFloat(const struct	btVector3FloatData& dataIn);
+
+		SIMD_FORCE_INLINE	void	serializeDouble(struct	btVector3DoubleData& dataOut) const;
+
+		SIMD_FORCE_INLINE	void	deSerializeDouble(const struct	btVector3DoubleData& dataIn);
+
 };

 /**@brief Return the sum of two vectors (Point symantics)*/
@@ -671,10 +687,6 @@ SIMD_FORCE_INLINE void btPlaneSpace1 (const btVector3& n, btVector3& p, btVector
  }
 }

-struct	btVector3Data
-{
-	btScalar	m_floats[4];
-};

 struct	btVector3FloatData
 {
@@ -684,8 +696,37 @@ struct	btVector3FloatData
 struct	btVector3DoubleData
 {
 	double	m_floats[4];
+
 };

+SIMD_FORCE_INLINE	void	btVector3::serializeFloat(struct	btVector3FloatData& dataOut) const
+{
+	///could also do a memcpy, check if it is worth it
+	for (int i=0;i<4;i++)
+		dataOut.m_floats[i] = float(m_floats[i]);
+}
+
+SIMD_FORCE_INLINE void	btVector3::deSerializeFloat(const struct	btVector3FloatData& dataIn)
+{
+	for (int i=0;i<4;i++)
+		m_floats[i] = btScalar(dataIn.m_floats[i]);
+}
+
+
+SIMD_FORCE_INLINE	void	btVector3::serializeDouble(struct	btVector3DoubleData& dataOut) const
+{
+	///could also do a memcpy, check if it is worth it
+	for (int i=0;i<4;i++)
+		dataOut.m_floats[i] = double(m_floats[i]);
+}
+
+SIMD_FORCE_INLINE void	btVector3::deSerializeDouble(const struct	btVector3DoubleData& dataIn)
+{
+	for (int i=0;i<4;i++)
+		m_floats[i] = btScalar(dataIn.m_floats[i]);
+}
+
+
 SIMD_FORCE_INLINE	void	btVector3::serialize(struct	btVector3Data& dataOut) const
 {
 	///could also do a memcpy, check if it is worth it