minor update manual

fix vehicle demo (heightfield is broken, when using very large scaling factor)
add btConeShape serialization, see Issue 725
add btGearConstraint get/set, see Issue 685 and Issue 671

src/BulletCollision/CollisionShapes/btConeShape.cpp

@@ -62,6 +62,10 @@ void	btConeShape::setConeUpIndex(int upIndex)
 	default:
 		btAssert(0);
 	};
+	
+	m_implicitShapeDimensions[m_coneIndices[0]] = m_radius;
+	m_implicitShapeDimensions[m_coneIndices[1]] = m_height;
+	m_implicitShapeDimensions[m_coneIndices[2]] = m_radius;
 }
 
 btVector3 btConeShape::coneLocalSupport(const btVector3& v) const

src/BulletCollision/CollisionShapes/btConeShape.h

@@ -90,6 +90,13 @@ public:
 	}
 
 	virtual void	setLocalScaling(const btVector3& scaling);
+	
+	
+	virtual	int	calculateSerializeBufferSize() const;
+	
+	///fills the dataBuffer and returns the struct name (and 0 on failure)
+	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
+	
 
 };
 
@@ -104,19 +111,61 @@ class btConeShapeX : public btConeShape
 		return btVector3 (1,0,0);
 	}
 
+	//debugging
+	virtual const char*	getName()const
+	{
+		return "ConeX";
+	}
+	
+	
 };
 
 ///btConeShapeZ implements a Cone shape, around the Z axis
 class btConeShapeZ : public btConeShape
 {
-	public:
-		btConeShapeZ(btScalar radius,btScalar height);
+public:
+	btConeShapeZ(btScalar radius,btScalar height);
 
 	virtual btVector3	getAnisotropicRollingFrictionDirection() const
 	{
 		return btVector3 (0,0,1);
 	}
 
+	//debugging
+	virtual const char*	getName()const
+	{
+		return "ConeZ";
+	}
+	
+	
 };
+
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct	btConeShapeData
+{
+	btConvexInternalShapeData	m_convexInternalShapeData;
+	
+	int	m_upIndex;
+	
+	char	m_padding[4];
+};
+
+SIMD_FORCE_INLINE	int	btConeShape::calculateSerializeBufferSize() const
+{
+	return sizeof(btConeShapeData);
+}
+
+///fills the dataBuffer and returns the struct name (and 0 on failure)
+SIMD_FORCE_INLINE	const char*	btConeShape::serialize(void* dataBuffer, btSerializer* serializer) const
+{
+	btConeShapeData* shapeData = (btConeShapeData*) dataBuffer;
+	
+	btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData,serializer);
+	
+	shapeData->m_upIndex = m_coneIndices[1];
+	
+	return "btConeShapeData";
+}
+
 #endif //BT_CONE_MINKOWSKI_H
 

src/BulletCollision/CollisionShapes/btConvexShape.cpp

@@ -21,6 +21,7 @@ subject to the following restrictions:
 #include "btTriangleShape.h"
 #include "btSphereShape.h"
 #include "btCylinderShape.h"
+#include "btConeShape.h"
 #include "btCapsuleShape.h"
 #include "btConvexHullShape.h"
 #include "btConvexPointCloudShape.h"
@@ -336,6 +337,11 @@ btScalar btConvexShape::getMarginNonVirtual () const
 		btCylinderShape* cylShape = (btCylinderShape*)this;
 		return cylShape->getMarginNV();
 	}
+	case CONE_SHAPE_PROXYTYPE:
+	{
+		btConeShape* conShape = (btConeShape*)this;
+		return conShape->getMarginNV();
+	}
 	case CAPSULE_SHAPE_PROXYTYPE:
 	{
 		btCapsuleShape* capsuleShape = (btCapsuleShape*)this;

src/BulletDynamics/ConstraintSolver/btGearConstraint.h

@@ -36,17 +36,48 @@ public:
 	///internal method used by the constraint solver, don't use them directly
 	virtual void getInfo1 (btConstraintInfo1* info);
 
-	///internal method used by the constraint solver, don't use them directly
-	virtual void getInfo2 (btConstraintInfo2* info);
-
-	virtual	void	setParam(int num, btScalar value, int axis = -1) 
+	///internal method used by the constraint solver, don't use them directly
+	virtual void getInfo2 (btConstraintInfo2* info);
+
+	void setAxisA(btVector3& axisA) 
 	{
-		btAssert(0);
-	};
+		m_axisInA = axisA;
+	}
+	void setAxisB(btVector3& axisB)
+	{
+		m_axisInB = axisB;
+	}
+	void setRatio(btScalar ratio)
+	{
+		m_ratio = ratio;
+	}
+	const btVector3& getAxisA() const
+	{
+		return m_axisInA;
+	}
+	const btVector3& getAxisB() const
+	{
+		return m_axisInB;
+	}
+	btScalar getRatio() const
+	{
+		return m_ratio;
+	}
+
+
+	virtual	void	setParam(int num, btScalar value, int axis = -1) 
+	{
+		(void) num;
+		(void) value;
+		(void) axis;
+		btAssert(0);
+	}
 
 	///return the local value of parameter
 	virtual	btScalar getParam(int num, int axis = -1) const 
 	{ 
+		(void) num;
+		(void) axis;
 		btAssert(0);
 		return 0.f;
 	}