First draft of btMultiBody serialization, including optional names for base, link and joints (see ImportURDFDemo/ImportURDFSetup.cpp how this is done)

Bump up version number to 2.84 because of new serialization data.

src/LinearMath/btQuaternion.h

@@ -22,6 +22,13 @@ subject to the following restrictions:
 #include "btQuadWord.h"
 
 
+#ifdef BT_USE_DOUBLE_PRECISION
+#define btQuaternionData btQuaternionDoubleData
+#define btQuaternionDataName "btQuaternionDoubleData"
+#else
+#define btQuaternionData btQuaternionFloatData
+#define btQuaternionDataName "btQuaternionFloatData"
+#endif //BT_USE_DOUBLE_PRECISION
 
 
 
@@ -560,7 +567,18 @@ public:
 
 	SIMD_FORCE_INLINE const btScalar& getW() const { return m_floats[3]; }
 
-	
+	SIMD_FORCE_INLINE	void	serialize(struct	btQuaternionData& dataOut) const;
+
+	SIMD_FORCE_INLINE	void	deSerialize(const struct	btQuaternionData& dataIn);
+
+	SIMD_FORCE_INLINE	void	serializeFloat(struct	btQuaternionFloatData& dataOut) const;
+
+	SIMD_FORCE_INLINE	void	deSerializeFloat(const struct	btQuaternionFloatData& dataIn);
+
+	SIMD_FORCE_INLINE	void	serializeDouble(struct	btQuaternionDoubleData& dataOut) const;
+
+	SIMD_FORCE_INLINE	void	deSerializeDouble(const struct	btQuaternionDoubleData& dataIn);
+
 };
 
 
@@ -903,6 +921,62 @@ shortestArcQuatNormalize2(btVector3& v0,btVector3& v1)
 	return shortestArcQuat(v0,v1);
 }
 
+
+
+
+struct	btQuaternionFloatData
+{
+	float	m_floats[4];
+};
+
+struct	btQuaternionDoubleData
+{
+	double	m_floats[4];
+
+};
+
+SIMD_FORCE_INLINE	void	btQuaternion::serializeFloat(struct	btQuaternionFloatData& 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	btQuaternion::deSerializeFloat(const struct	btQuaternionFloatData& dataIn)
+{
+	for (int i=0;i<4;i++)
+		m_floats[i] = btScalar(dataIn.m_floats[i]);
+}
+
+
+SIMD_FORCE_INLINE	void	btQuaternion::serializeDouble(struct	btQuaternionDoubleData& 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	btQuaternion::deSerializeDouble(const struct	btQuaternionDoubleData& dataIn)
+{
+	for (int i=0;i<4;i++)
+		m_floats[i] = btScalar(dataIn.m_floats[i]);
+}
+
+
+SIMD_FORCE_INLINE	void	btQuaternion::serialize(struct	btQuaternionData& dataOut) const
+{
+	///could also do a memcpy, check if it is worth it
+	for (int i=0;i<4;i++)
+		dataOut.m_floats[i] = m_floats[i];
+}
+
+SIMD_FORCE_INLINE void	btQuaternion::deSerialize(const struct	btQuaternionData& dataIn)
+{
+	for (int i=0;i<4;i++)
+		m_floats[i] = dataIn.m_floats[i];
+}
+
+
 #endif //BT_SIMD__QUATERNION_H_