void dgWorld::SerializeJointArray (dgBody** const bodyArray, dgInt32 bodyCount, dgSerialize serializeCallback, void* const userData) const
{
dgInt32 count = 0;
const dgBodyMasterList* me = this;
for (dgBodyMasterList::dgListNode* node = me->GetFirst(); node; node = node->GetNext()) {
const dgBodyMasterListRow& info = node->GetInfo();
for (dgBodyMasterListRow::dgListNode *jointNode = info.GetFirst(); jointNode; jointNode = jointNode->GetNext()) {
const dgBodyMasterListCell& cell = jointNode->GetInfo();
dgConstraint* const joint = cell.m_joint;
count += joint->IsBilateral() ? 1 : 0;
}
}
dgTree<int, dgBody*> bodyMap (GetAllocator());
for (dgInt32 i = 0; i < bodyCount; i ++) {
bodyMap.Insert (i, bodyArray[i]);
}
count /= 2;
dgSerializeMarker (serializeCallback, userData);
serializeCallback(userData, &count, sizeof (count));
dgTree<int, dgConstraint*> map (GetAllocator());
for (dgBodyMasterList::dgListNode* node = me->GetFirst(); node; node = node->GetNext()) {
dgBodyMasterListRow& info = node->GetInfo();
for (dgBodyMasterListRow::dgListNode *jointNode = info.GetFirst(); jointNode; jointNode = jointNode->GetNext()) {
const dgBodyMasterListCell& cell = jointNode->GetInfo();
dgConstraint* const joint = cell.m_joint;
if (joint->IsBilateral()) {
if (!map.Find(joint)) {
map.Insert (0, joint);
dgInt32 body0;
dgInt32 body1;
dgAssert (joint->GetBody0());
dgAssert (joint->GetBody1());
body0 = (joint->GetBody0() != m_sentinelBody) ? bodyMap.Find (joint->GetBody0())->GetInfo() : -1;
body1 = (joint->GetBody1() != m_sentinelBody) ? bodyMap.Find (joint->GetBody1())->GetInfo() : -1;
serializeCallback(userData, &body0, sizeof (body0));
serializeCallback(userData, &body1, sizeof (body1));
dgBilateralConstraint* const bilateralJoint = (dgBilateralConstraint*) joint;
bilateralJoint->Serialize (serializeCallback, userData);
dgSerializeMarker(serializeCallback, userData);
}
}
}
}
dgSerializeMarker(serializeCallback, userData);
}
void dgCollisionInstance::Serialize(dgSerialize serialize, void* const userData, bool saveShape) const
{
dgInt32 save = saveShape ? 1 : 0;
dgInt32 primitiveType = m_childShape->GetCollisionPrimityType();
dgInt32 signature = m_childShape->GetSignature();
dgInt32 scaleType = m_scaleType;
serialize (userData, &m_globalMatrix, sizeof (m_globalMatrix));
serialize (userData, &m_localMatrix, sizeof (m_localMatrix));
serialize (userData, &m_aligmentMatrix, sizeof (m_aligmentMatrix));
serialize (userData, &m_scale, sizeof (m_scale));
serialize (userData, &m_invScale, sizeof (m_invScale));
serialize (userData, &m_maxScale, sizeof (m_maxScale));
serialize (userData, &m_skinThickness, sizeof (m_skinThickness));
serialize (userData, &m_material, sizeof (m_material));
serialize (userData, &m_collisionMode, sizeof (m_collisionMode));
serialize (userData, &scaleType, sizeof (scaleType));
serialize (userData, &primitiveType, sizeof (primitiveType));
serialize (userData, &signature, sizeof (signature));
serialize (userData, &save, sizeof (save));
if (saveShape) {
m_childShape->Serialize(serialize, userData);
}
dgSerializeMarker(serialize, userData);
}
void dgWorld::SerializeBodyArray(void* const userData, OnBodySerialize bodyCallback, dgBody** const array, dgInt32 count, dgSerialize serializeCallback, void* const fileHandle) const
{
dgSerializeMarker(serializeCallback, fileHandle);
// serialize all collisions
dgInt32 uniqueShapes = 0;
dgTree<dgInt32, const dgCollision*> shapeMap(GetAllocator());
for (dgInt32 i = 0; i < count; i++) {
dgBody* const body = array[i];
dgAssert(body->m_world == this);
dgCollisionInstance* const instance = body->GetCollision();
const dgCollision* const collision = instance->GetChildShape();
dgTree<dgInt32, const dgCollision*>::dgTreeNode* const shapeNode = shapeMap.Insert(uniqueShapes, collision);
if (shapeNode) {
uniqueShapes++;
}
}
serializeCallback(fileHandle, &uniqueShapes, sizeof (uniqueShapes));
dgTree<dgInt32, const dgCollision*>::Iterator iter(shapeMap);
for (iter.Begin(); iter; iter++) {
dgInt32 id = iter.GetNode()->GetInfo();
const dgCollision* const collision = iter.GetKey();
dgCollisionInstance instance(this, collision, 0, dgMatrix(dgGetIdentityMatrix()));
serializeCallback(fileHandle, &id, sizeof (id));
instance.Serialize(serializeCallback, fileHandle);
dgSerializeMarker(serializeCallback, fileHandle);
}
serializeCallback(fileHandle, &count, sizeof (count));
for (dgInt32 i = 0; i < count; i++) {
dgBody* const body = array[i];
dgInt32 bodyType = body->GetType();
serializeCallback(fileHandle, &bodyType, sizeof (bodyType));
// serialize the body
body->Serialize(shapeMap, serializeCallback, fileHandle);
// serialize body custom data
bodyCallback(*body, userData, serializeCallback, fileHandle);
dgSerializeMarker(serializeCallback, fileHandle);
}
}
