From 6f60a388c61475ccce3c4756b0eab7b3eabf5747 Mon Sep 17 00:00:00 2001
From: "erwin.coumans" <erwin.coumans@08e121b0-ae19-0410-a57b-3be3395fd4fd>
Date: Sat, 22 Sep 2012 02:06:09 +0000
Subject: [PATCH] add missing Demos/BulletXmlImportDemo serialize
 DynamicsWorldInfo

---
 .../BulletXmlImportDemo.cpp                   |   164 +
 .../BulletXmlImportDemo/BulletXmlImportDemo.h |    83 +
 Demos/BulletXmlImportDemo/CMakeLists.txt      |    96 +
 .../Win32BulletXmlImportDemo.cpp              |    25 +
 Demos/BulletXmlImportDemo/bullet_basic.xml    |   668 +
 Demos/BulletXmlImportDemo/bulletser.xml       | 24344 ++++++++++++++++
 Demos/BulletXmlImportDemo/main.cpp            |   109 +
 .../BulletFileLoader/autogenerated/bullet.h   |    87 +-
 .../BulletFileLoader/btBulletFile.cpp         |     5 +
 .../Serialize/BulletFileLoader/btBulletFile.h |     4 +-
 .../btBulletWorldImporter.cpp                 |   120 +-
 .../BulletWorldImporter/btWorldImporter.cpp   |    57 +-
 .../BulletWorldImporter/btWorldImporter.h     |    16 +-
 .../btBulletXmlWorldImporter.cpp              |    39 +-
 .../btBulletXmlWorldImporter.h                |    11 +-
 .../ConstraintSolver/btContactSolverInfo.h    |     1 +
 .../Dynamics/btDiscreteDynamicsWorld.cpp      |    54 +
 .../Dynamics/btDiscreteDynamicsWorld.h        |     2 +
 .../btSoftRigidDynamicsWorld.cpp              |     2 +
 src/LinearMath/btSerializer.h                 |     1 +
 20 files changed, 25824 insertions(+), 64 deletions(-)
 create mode 100644 Demos/BulletXmlImportDemo/BulletXmlImportDemo.cpp
 create mode 100644 Demos/BulletXmlImportDemo/BulletXmlImportDemo.h
 create mode 100644 Demos/BulletXmlImportDemo/CMakeLists.txt
 create mode 100644 Demos/BulletXmlImportDemo/Win32BulletXmlImportDemo.cpp
 create mode 100644 Demos/BulletXmlImportDemo/bullet_basic.xml
 create mode 100644 Demos/BulletXmlImportDemo/bulletser.xml
 create mode 100644 Demos/BulletXmlImportDemo/main.cpp

diff --git a/Demos/BulletXmlImportDemo/BulletXmlImportDemo.cpp b/Demos/BulletXmlImportDemo/BulletXmlImportDemo.cpp
new file mode 100644
index 000000000..3ea21828c
--- /dev/null
+++ b/Demos/BulletXmlImportDemo/BulletXmlImportDemo.cpp
@@ -0,0 +1,164 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2010 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+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.
+*/
+
+
+
+#include "BulletXmlImportDemo.h"
+#include "GlutStuff.h"
+///btBulletDynamicsCommon.h is the main Bullet include file, contains most common include files.
+#include "btBulletDynamicsCommon.h"
+#include "LinearMath/btSerializer.h"
+#include "btBulletFile.h"
+#include "btBulletWorldImporter.h"
+#include "btBulletXmlWorldImporter.h"
+
+#include "BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h"
+#include <stdio.h> //printf debugging
+
+
+void BulletXmlImportDemo::initPhysics()
+{
+		setTexturing(true);
+	setShadows(true);
+
+	setCameraDistance(btScalar(30.));
+
+	setupEmptyDynamicsWorld();
+
+	btBulletXmlWorldImporter* importer = new btBulletXmlWorldImporter(m_dynamicsWorld);
+	importer->loadFile("bullet_basic.xml");
+//	importer->loadFile("bulletser.xml");
+//	importer->loadFile("bullet_constraints.xml");
+
+}
+
+void BulletXmlImportDemo::clientMoveAndDisplay()
+{
+	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 
+
+	//simple dynamics world doesn't handle fixed-time-stepping
+	float ms = getDeltaTimeMicroseconds();
+	
+	///step the simulation
+	if (m_dynamicsWorld)
+	{
+		m_dynamicsWorld->stepSimulation(ms / 1000000.f);
+		m_dynamicsWorld->debugDrawWorld();
+	}
+		
+	renderme(); 
+
+	glFlush();
+
+	swapBuffers();
+
+}
+
+
+
+void BulletXmlImportDemo::displayCallback(void) {
+
+	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 
+	
+
+	renderme();
+
+	//optional but useful: debug drawing to detect problems
+	if (m_dynamicsWorld)
+		m_dynamicsWorld->debugDrawWorld();
+
+	glFlush();
+	swapBuffers();
+}
+
+
+void	BulletXmlImportDemo::setupEmptyDynamicsWorld()
+{
+	m_collisionConfiguration = new btDefaultCollisionConfiguration();
+
+	///use the default collision dispatcher. For parallel processing you can use a diffent dispatcher (see Extras/BulletMultiThreaded)
+	m_dispatcher = new	btCollisionDispatcher(m_collisionConfiguration);
+	btGImpactCollisionAlgorithm::registerAlgorithm(m_dispatcher);
+
+	m_broadphase = new btDbvtBroadphase();
+	
+	///the default constraint solver. For parallel processing you can use a different solver (see Extras/BulletMultiThreaded)
+	btSequentialImpulseConstraintSolver* sol = new btSequentialImpulseConstraintSolver;
+	m_solver = sol;
+	m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
+
+	//btGImpactCollisionAlgorithm::registerAlgorithm((btCollisionDispatcher*)m_dynamicsWorld->getDispatcher());
+
+	m_dynamicsWorld->setGravity(btVector3(0,-10,0));
+
+}
+
+
+
+
+BulletXmlImportDemo::~BulletXmlImportDemo()
+{
+	m_fileLoader->deleteAllData();
+	delete m_fileLoader;	
+	exitPhysics();
+}
+
+
+
+
+void	BulletXmlImportDemo::exitPhysics()
+{
+
+	//cleanup in the reverse order of creation/initialization
+
+	//remove the rigidbodies from the dynamics world and delete them
+	int i;
+	for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
+	{
+		btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
+		btRigidBody* body = btRigidBody::upcast(obj);
+		if (body && body->getMotionState())
+		{
+			delete body->getMotionState();
+		}
+		m_dynamicsWorld->removeCollisionObject( obj );
+		delete obj;
+	}
+
+	//delete collision shapes
+	for (int j=0;j<m_collisionShapes.size();j++)
+	{
+		btCollisionShape* shape = m_collisionShapes[j];
+		delete shape;
+	}
+
+	m_collisionShapes.clear();
+
+	delete m_dynamicsWorld;
+	
+	delete m_solver;
+	
+	delete m_broadphase;
+	
+	delete m_dispatcher;
+
+	delete m_collisionConfiguration;
+
+	
+}
+
+
+
+
diff --git a/Demos/BulletXmlImportDemo/BulletXmlImportDemo.h b/Demos/BulletXmlImportDemo/BulletXmlImportDemo.h
new file mode 100644
index 000000000..c2eff6321
--- /dev/null
+++ b/Demos/BulletXmlImportDemo/BulletXmlImportDemo.h
@@ -0,0 +1,83 @@
+
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2010 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+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.
+*/
+#ifndef SERIALIZE_DEMO_H
+#define SERIALIZE_DEMO_H
+
+#ifdef _WINDOWS
+#include "Win32DemoApplication.h"
+#define PlatformDemoApplication Win32DemoApplication
+#else
+#include "GlutDemoApplication.h"
+#define PlatformDemoApplication GlutDemoApplication
+#endif
+
+#include "LinearMath/btAlignedObjectArray.h"
+
+class btBroadphaseInterface;
+class btCollisionShape;
+class btOverlappingPairCache;
+class btCollisionDispatcher;
+class btConstraintSolver;
+struct btCollisionAlgorithmCreateFunc;
+class btDefaultCollisionConfiguration;
+
+///BulletXmlImportDemo shows how to use save and load XML Bullet physics files (work-in-progress)
+class BulletXmlImportDemo : public PlatformDemoApplication
+{
+
+	//keep the collision shapes, for deletion/cleanup
+	btAlignedObjectArray<btCollisionShape*>	m_collisionShapes;
+
+	btBroadphaseInterface*	m_broadphase;
+
+	btCollisionDispatcher*	m_dispatcher;
+
+	btConstraintSolver*	m_solver;
+
+	btDefaultCollisionConfiguration* m_collisionConfiguration;
+
+	class btBulletWorldImporter*		m_fileLoader;
+
+	public:
+
+	BulletXmlImportDemo()
+	{
+	}
+	virtual ~BulletXmlImportDemo();
+
+	void	initPhysics();
+
+	void	setupEmptyDynamicsWorld();
+
+	void	exitPhysics();
+
+	virtual void clientMoveAndDisplay();
+
+	virtual void displayCallback();
+	
+	static DemoApplication* Create()
+	{
+		BulletXmlImportDemo* demo = new BulletXmlImportDemo;
+		demo->myinit();
+		demo->initPhysics();
+		return demo;
+	}
+
+	
+};
+
+#endif //SERIALIZE_DEMO_H
+
diff --git a/Demos/BulletXmlImportDemo/CMakeLists.txt b/Demos/BulletXmlImportDemo/CMakeLists.txt
new file mode 100644
index 000000000..c7adcc168
--- /dev/null
+++ b/Demos/BulletXmlImportDemo/CMakeLists.txt
@@ -0,0 +1,96 @@
+# This is basically the overall name of the project in Visual Studio this is the name of the Solution File
+
+
+# For every executable you have with a main method you should have an add_executable line below.
+# For every add executable line you should list every .cpp and .h file you have associated with that executable.  
+
+
+# This is the variable for Windows.  I use this to define the root of my directory structure.
+SET(GLUT_ROOT ${BULLET_PHYSICS_SOURCE_DIR}/Glut)
+
+# You shouldn't have to modify anything below this line 
+########################################################
+
+IF(BUILD_AMD_OPENCL_DEMOS)
+	SUBDIRS(AMD)
+ENDIF()
+
+INCLUDE_DIRECTORIES(
+${BULLET_PHYSICS_SOURCE_DIR}/src 
+${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL 
+${BULLET_PHYSICS_SOURCE_DIR}/Extras/Serialize/BulletFileLoader
+${BULLET_PHYSICS_SOURCE_DIR}/Extras/Serialize/BulletWorldImporter
+${BULLET_PHYSICS_SOURCE_DIR}/Extras/Serialize/BulletXmlWorldImporter
+)
+
+ADD_DEFINITIONS(-DDESERIALIZE_SOFT_BODIES)
+
+IF (USE_GLUT)
+	LINK_LIBRARIES(
+	OpenGLSupport  BulletXmlWorldImporter BulletWorldImporter BulletSoftBody BulletDynamics  BulletCollision BulletFileLoader LinearMath   ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
+	)
+
+	IF (WIN32)
+		ADD_EXECUTABLE(AppBulletXmlImportDemo
+			main.cpp
+			BulletXmlImportDemo.cpp 
+			BulletXmlImportDemo.h
+			${BULLET_PHYSICS_SOURCE_DIR}/build/bullet.rc
+		)
+	ELSE()
+		ADD_EXECUTABLE(AppBulletXmlImportDemo
+			main.cpp
+			BulletXmlImportDemo.cpp 
+			BulletXmlImportDemo.h
+		)
+	ENDIF()
+	IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
+		IF (WIN32)
+			IF (CMAKE_CL_64)
+				ADD_CUSTOM_COMMAND(
+					TARGET AppBulletXmlImportDemo
+					POST_BUILD
+					COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/glut64.dll ${CMAKE_CURRENT_BINARY_DIR}
+				)
+			ELSE(CMAKE_CL_64)
+				ADD_CUSTOM_COMMAND(
+					TARGET AppBulletXmlImportDemo
+					POST_BUILD
+					COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR}
+				)
+			ENDIF(CMAKE_CL_64)
+		ENDIF(WIN32)
+	ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
+	
+ELSE (USE_GLUT)
+
+	LINK_LIBRARIES(
+	OpenGLSupport  BulletXmlWorldImporter BulletWorldImporter BulletSoftBody BulletDynamics  BulletCollision BulletFileLoader LinearMath  ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
+	)
+
+	ADD_EXECUTABLE(AppBulletXmlImportDemo
+		WIN32
+		../OpenGL/Win32AppMain.cpp
+		Win32BulletXmlImportDemo.cpp
+		BulletXmlImportDemo.cpp 
+		BulletXmlImportDemo.h
+		${BULLET_PHYSICS_SOURCE_DIR}/build/bullet.rc
+	)
+ENDIF (USE_GLUT)
+
+IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES AND NOT INTERNAL_UPDATE_SERIALIZATION_STRUCTURES)
+	ADD_CUSTOM_COMMAND(
+		TARGET AppBulletXmlImportDemo 
+		POST_BUILD
+		COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/Demos/BulletXmlImportDemo/bullet_basic.xml ${CMAKE_CURRENT_BINARY_DIR}/bullet_basic.xml
+	)
+ENDIF ()
+
+
+IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
+			SET_TARGET_PROPERTIES(AppBulletXmlImportDemo PROPERTIES  DEBUG_POSTFIX "_Debug")
+			SET_TARGET_PROPERTIES(AppBulletXmlImportDemo PROPERTIES  MINSIZEREL_POSTFIX "_MinsizeRel")
+			SET_TARGET_PROPERTIES(AppBulletXmlImportDemo PROPERTIES  RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
+ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
+
+
diff --git a/Demos/BulletXmlImportDemo/Win32BulletXmlImportDemo.cpp b/Demos/BulletXmlImportDemo/Win32BulletXmlImportDemo.cpp
new file mode 100644
index 000000000..097bbcb23
--- /dev/null
+++ b/Demos/BulletXmlImportDemo/Win32BulletXmlImportDemo.cpp
@@ -0,0 +1,25 @@
+#ifdef _WINDOWS
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2010 Erwin Coumans  http://bulletphysics.org
+
+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.
+*/
+
+#include "BulletXmlImportDemo.h"
+
+///The 'createDemo' function is called from Bullet/Demos/OpenGL/Win32AppMain.cpp to instantiate this particular demo
+DemoApplication*	createDemo()
+{
+	return new BulletXmlImportDemo();
+}
+
+#endif
diff --git a/Demos/BulletXmlImportDemo/bullet_basic.xml b/Demos/BulletXmlImportDemo/bullet_basic.xml
new file mode 100644
index 000000000..14ab0fa0e
--- /dev/null
+++ b/Demos/BulletXmlImportDemo/bullet_basic.xml
@@ -0,0 +1,668 @@
+<?xml version="1.0" encoding="utf-8"?>
+<bullet_physics version=281 itemcount = 9>
+ <btDynamicsWorldFloatData pointer=2>
+  <m_solverInfo type="btContactSolverInfoFloatData">
+    <m_tau type="float"> 0.600000 </m_tau>
+    <m_damping type="float"> 1.000000 </m_damping>
+    <m_friction type="float"> 0.300000 </m_friction>
+    <m_timeStep type="float"> 0.016667 </m_timeStep>
+    <m_restitution type="float"> 0.000000 </m_restitution>
+    <m_maxErrorReduction type="float"> 20.000000 </m_maxErrorReduction>
+    <m_sor type="float"> 1.000000 </m_sor>
+    <m_erp type="float"> 0.200000 </m_erp>
+    <m_erp2 type="float"> 0.800000 </m_erp2>
+    <m_globalCfm type="float"> 0.000000 </m_globalCfm>
+    <m_splitImpulsePenetrationThreshold type="float"> -0.040000 </m_splitImpulsePenetrationThreshold>
+    <m_splitImpulseTurnErp type="float"> 0.100000 </m_splitImpulseTurnErp>
+    <m_linearSlop type="float"> 0.000000 </m_linearSlop>
+    <m_warmstartingFactor type="float"> 0.850000 </m_warmstartingFactor>
+    <m_maxGyroscopicForce type="float"> 100.000000 </m_maxGyroscopicForce>
+    <m_singleAxisRollingFrictionThreshold type="float"> 1000000015047466200000000000000.000000 </m_singleAxisRollingFrictionThreshold>
+    <m_numIterations type="int"> 10 </m_numIterations>
+    <m_solverMode type="int"> 260 </m_solverMode>
+    <m_restingContactRestitutionThreshold type="int"> 2 </m_restingContactRestitutionThreshold>
+    <m_minimumSolverBatchSize type="int"> 128 </m_minimumSolverBatchSize>
+    <m_splitImpulse type="int"> 1 </m_splitImpulse>
+    <m_padding type="char" count=4> 0  0  0  0 </m_padding>
+  </m_solverInfo>
+  <m_gravity type="btVector3FloatData">
+    <m_floats type="float" count=4> 0.000000  -10.000000  0.000000  0.000000 </m_floats>
+  </m_gravity>
+ </btDynamicsWorldFloatData>
+ <btRigidBodyFloatData pointer=4>
+  <m_collisionObjectData type="btCollisionObjectFloatData">
+    <m_broadphaseHandle type="pointer"> 0 </m_broadphaseHandle>
+    <m_collisionShape type="pointer"> 3 </m_collisionShape>
+    <m_rootCollisionShape type="pointer"> 0 </m_rootCollisionShape>
+    <m_name type="pointer"> 0 </m_name>
+    <m_worldTransform type="btTransformFloatData">
+      <m_basis type="btMatrix3x3FloatData">
+        <m_el type="btVector3FloatData" count=3>
+          <m_floats type="float" count=4> 1.000000  0.000000  0.000000  0.000000 </m_floats>
+          <m_floats type="float" count=4> 0.000000  1.000000  0.000000  0.000000 </m_floats>
+          <m_floats type="float" count=4> 0.000000  0.000000  1.000000  0.000000 </m_floats>
+        </m_el>
+      </m_basis>
+      <m_origin type="btVector3FloatData">
+        <m_floats type="float" count=4> 0.000000  -50.000000  0.000000  0.000000 </m_floats>
+      </m_origin>
+    </m_worldTransform>
+    <m_interpolationWorldTransform type="btTransformFloatData">
+      <m_basis type="btMatrix3x3FloatData">
+        <m_el type="btVector3FloatData" count=3>
+          <m_floats type="float" count=4> 1.000000  0.000000  0.000000  0.000000 </m_floats>
+          <m_floats type="float" count=4> 0.000000  1.000000  0.000000  0.000000 </m_floats>
+          <m_floats type="float" count=4> 0.000000  0.000000  1.000000  0.000000 </m_floats>
+        </m_el>
+      </m_basis>
+      <m_origin type="btVector3FloatData">
+        <m_floats type="float" count=4> 0.000000  0.000000  0.000000  0.000000 </m_floats>
+      </m_origin>
+    </m_interpolationWorldTransform>
+    <m_interpolationLinearVelocity type="btVector3FloatData">
+      <m_floats type="float" count=4> 0.000000  0.000000  0.000000  0.000000 </m_floats>
+    </m_interpolationLinearVelocity>
+    <m_interpolationAngularVelocity type="btVector3FloatData">
+      <m_floats type="float" count=4> 0.000000  0.000000  0.000000  0.000000 </m_floats>
+    </m_interpolationAngularVelocity>
+    <m_anisotropicFriction type="btVector3FloatData">
+      <m_floats type="float" count=4> 1.000000  1.000000  1.000000  0.000000 </m_floats>
+    </m_anisotropicFriction>
+    <m_contactProcessingThreshold type="float"> 999999984306749440.000000 </m_contactProcessingThreshold>
+    <m_deactivationTime type="float"> 0.000000 </m_deactivationTime>
+    <m_friction type="float"> 0.500000 </m_friction>
+    <m_rollingFriction type="float"> -431602080.000000 </m_rollingFriction>
+    <m_restitution type="float"> 0.000000 </m_restitution>
+    <m_hitFraction type="float"> 1.000000 </m_hitFraction>
+    <m_ccdSweptSphereRadius type="float"> 0.000000 </m_ccdSweptSphereRadius>
+    <m_ccdMotionThreshold type="float"> 0.000000 </m_ccdMotionThreshold>
+    <m_hasAnisotropicFriction type="int"> 0 </m_hasAnisotropicFriction>
+    <m_collisionFlags type="int"> 1 </m_collisionFlags>
+    <m_islandTag1 type="int"> -1 </m_islandTag1>
+    <m_companionId type="int"> -2 </m_companionId>
+    <m_activationState1 type="int"> 2 </m_activationState1>
+    <m_internalType type="int"> 2 </m_internalType>
+    <m_checkCollideWith type="int"> 0 </m_checkCollideWith>
+    <m_padding type="char" count=4> -51  -51  -51  -51 </m_padding>
+  </m_collisionObjectData>
+  <m_invInertiaTensorWorld type="btMatrix3x3FloatData">
+    <m_el type="btVector3FloatData" count=3>
+      <m_floats type="float" count=4> 0.000000  0.000000  0.000000  0.000000 </m_floats>
+      <m_floats type="float" count=4> 0.000000  0.000000  0.000000  0.000000 </m_floats>
+      <m_floats type="float" count=4> 0.000000  0.000000  0.000000  0.000000 </m_floats>
+    </m_el>
+  </m_invInertiaTensorWorld>
+  <m_linearVelocity type="btVector3FloatData">
+    <m_floats type="float" count=4> 0.000000  0.000000  0.000000  0.000000 </m_floats>
+  </m_linearVelocity>
+  <m_angularVelocity type="btVector3FloatData">
+    <m_floats type="float" count=4> 0.000000  0.000000  0.000000  0.000000 </m_floats>
+  </m_angularVelocity>
+  <m_angularFactor type="btVector3FloatData">
+    <m_floats type="float" count=4> 1.000000  1.000000  1.000000  0.000000 </m_floats>
+  </m_angularFactor>
+  <m_linearFactor type="btVector3FloatData">
+    <m_floats type="float" count=4> 1.000000  1.000000  1.000000  0.000000 </m_floats>
+  </m_linearFactor>
+  <m_gravity type="btVector3FloatData">
+    <m_floats type="float" count=4> 0.000000  0.000000  0.000000  0.000000 </m_floats>
+  </m_gravity>
+  <m_gravity_acceleration type="btVector3FloatData">
+    <m_floats type="float" count=4> 0.000000  0.000000  0.000000  0.000000 </m_floats>
+  </m_gravity_acceleration>
+  <m_invInertiaLocal type="btVector3FloatData">
+    <m_floats type="float" count=4> 0.000000  0.000000  0.000000  0.000000 </m_floats>
+  </m_invInertiaLocal>
+  <m_totalForce type="btVector3FloatData">
+    <m_floats type="float" count=4> 0.000000  0.000000  0.000000  0.000000 </m_floats>
+  </m_totalForce>
+  <m_totalTorque type="btVector3FloatData">
+    <m_floats type="float" count=4> 0.000000  0.000000  0.000000  0.000000 </m_floats>
+  </m_totalTorque>
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+  <m_angularDamping type="float"> 0.000000 </m_angularDamping>
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+  <m_additionalAngularDampingThresholdSqr type="float"> 0.010000 </m_additionalAngularDampingThresholdSqr>
+  <m_additionalAngularDampingFactor type="float"> 0.010000 </m_additionalAngularDampingFactor>
+  <m_linearSleepingThreshold type="float"> 0.800000 </m_linearSleepingThreshold>
+  <m_angularSleepingThreshold type="float"> 1.000000 </m_angularSleepingThreshold>
+  <m_additionalDamping type="int"> 0 </m_additionalDamping>
+ </btRigidBodyFloatData>
+ <btRigidBodyFloatData pointer=6>
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+    <m_friction type="float"> 0.500000 </m_friction>
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+    <m_islandTag1 type="int"> 4 </m_islandTag1>
+    <m_companionId type="int"> -1 </m_companionId>
+    <m_activationState1 type="int"> 1 </m_activationState1>
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+      <m_floats type="float" count=4> 0.000000  0.000000  1.500000  0.000000 </m_floats>
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+  <m_additionalAngularDampingThresholdSqr type="float"> 0.010000 </m_additionalAngularDampingThresholdSqr>
+  <m_additionalAngularDampingFactor type="float"> 0.010000 </m_additionalAngularDampingFactor>
+  <m_linearSleepingThreshold type="float"> 0.800000 </m_linearSleepingThreshold>
+  <m_angularSleepingThreshold type="float"> 1.000000 </m_angularSleepingThreshold>
+  <m_additionalDamping type="int"> 0 </m_additionalDamping>
+ </btRigidBodyFloatData>
+ <btRigidBodyFloatData pointer=7>
+  <m_collisionObjectData type="btCollisionObjectFloatData">
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+    <m_collisionShape type="pointer"> 5 </m_collisionShape>
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+    <m_name type="pointer"> 0 </m_name>
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+    <m_interpolationWorldTransform type="btTransformFloatData">
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+  <m_additionalAngularDampingThresholdSqr type="float"> 0.010000 </m_additionalAngularDampingThresholdSqr>
+  <m_additionalAngularDampingFactor type="float"> 0.010000 </m_additionalAngularDampingFactor>
+  <m_linearSleepingThreshold type="float"> 0.800000 </m_linearSleepingThreshold>
+  <m_angularSleepingThreshold type="float"> 1.000000 </m_angularSleepingThreshold>
+  <m_additionalDamping type="int"> 0 </m_additionalDamping>
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+ <btRigidBodyFloatData pointer=8>
+  <m_collisionObjectData type="btCollisionObjectFloatData">
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+    <m_collisionShape type="pointer"> 5 </m_collisionShape>
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+    <m_deactivationTime type="float"> 0.000000 </m_deactivationTime>
+    <m_friction type="float"> 0.500000 </m_friction>
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+  <m_linearSleepingThreshold type="float"> 0.800000 </m_linearSleepingThreshold>
+  <m_angularSleepingThreshold type="float"> 1.000000 </m_angularSleepingThreshold>
+  <m_additionalDamping type="int"> 0 </m_additionalDamping>
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+      <m_floats type="float" count=4> 0.000000  0.000000  0.000000  0.000000 </m_floats>
+    </m_interpolationAngularVelocity>
+    <m_anisotropicFriction type="btVector3FloatData">
+      <m_floats type="float" count=4> 1.000000  1.000000  1.000000  0.000000 </m_floats>
+    </m_anisotropicFriction>
+    <m_contactProcessingThreshold type="float"> 999999984306749440.000000 </m_contactProcessingThreshold>
+    <m_deactivationTime type="float"> 0.000000 </m_deactivationTime>
+    <m_friction type="float"> 0.500000 </m_friction>
+    <m_rollingFriction type="float"> -431602080.000000 </m_rollingFriction>
+    <m_restitution type="float"> 0.000000 </m_restitution>
+    <m_hitFraction type="float"> 1.000000 </m_hitFraction>
+    <m_ccdSweptSphereRadius type="float"> 0.000000 </m_ccdSweptSphereRadius>
+    <m_ccdMotionThreshold type="float"> 0.000000 </m_ccdMotionThreshold>
+    <m_hasAnisotropicFriction type="int"> 0 </m_hasAnisotropicFriction>
+    <m_collisionFlags type="int"> 0 </m_collisionFlags>
+    <m_islandTag1 type="int"> 4 </m_islandTag1>
+    <m_companionId type="int"> -1 </m_companionId>
+    <m_activationState1 type="int"> 1 </m_activationState1>
+    <m_internalType type="int"> 2 </m_internalType>
+    <m_checkCollideWith type="int"> 0 </m_checkCollideWith>
+    <m_padding type="char" count=4> -51  -51  -51  -51 </m_padding>
+  </m_collisionObjectData>
+  <m_invInertiaTensorWorld type="btMatrix3x3FloatData">
+    <m_el type="btVector3FloatData" count=3>
+      <m_floats type="float" count=4> 1.500000  0.000000  0.000000  0.000000 </m_floats>
+      <m_floats type="float" count=4> 0.000000  1.500000  0.000000  0.000000 </m_floats>
+      <m_floats type="float" count=4> 0.000000  0.000000  1.500000  0.000000 </m_floats>
+    </m_el>
+  </m_invInertiaTensorWorld>
+  <m_linearVelocity type="btVector3FloatData">
+    <m_floats type="float" count=4> 0.000000  -4.000000  0.000000  0.000000 </m_floats>
+  </m_linearVelocity>
+  <m_angularVelocity type="btVector3FloatData">
+    <m_floats type="float" count=4> 0.000000  0.000000  0.000000  0.000000 </m_floats>
+  </m_angularVelocity>
+  <m_angularFactor type="btVector3FloatData">
+    <m_floats type="float" count=4> 1.000000  1.000000  1.000000  0.000000 </m_floats>
+  </m_angularFactor>
+  <m_linearFactor type="btVector3FloatData">
+    <m_floats type="float" count=4> 1.000000  1.000000  1.000000  0.000000 </m_floats>
+  </m_linearFactor>
+  <m_gravity type="btVector3FloatData">
+    <m_floats type="float" count=4> 0.000000  -10.000000  0.000000  0.000000 </m_floats>
+  </m_gravity>
+  <m_gravity_acceleration type="btVector3FloatData">
+    <m_floats type="float" count=4> 0.000000  -10.000000  0.000000  0.000000 </m_floats>
+  </m_gravity_acceleration>
+  <m_invInertiaLocal type="btVector3FloatData">
+    <m_floats type="float" count=4> 1.500000  1.500000  1.500000  0.000000 </m_floats>
+  </m_invInertiaLocal>
+  <m_totalForce type="btVector3FloatData">
+    <m_floats type="float" count=4> 0.000000  0.000000  0.000000  0.000000 </m_floats>
+  </m_totalForce>
+  <m_totalTorque type="btVector3FloatData">
+    <m_floats type="float" count=4> 0.000000  0.000000  0.000000  0.000000 </m_floats>
+  </m_totalTorque>
+  <m_inverseMass type="float"> 1.000000 </m_inverseMass>
+  <m_linearDamping type="float"> 0.000000 </m_linearDamping>
+  <m_angularDamping type="float"> 0.000000 </m_angularDamping>
+  <m_additionalDampingFactor type="float"> 0.005000 </m_additionalDampingFactor>
+  <m_additionalLinearDampingThresholdSqr type="float"> 0.010000 </m_additionalLinearDampingThresholdSqr>
+  <m_additionalAngularDampingThresholdSqr type="float"> 0.010000 </m_additionalAngularDampingThresholdSqr>
+  <m_additionalAngularDampingFactor type="float"> 0.010000 </m_additionalAngularDampingFactor>
+  <m_linearSleepingThreshold type="float"> 0.800000 </m_linearSleepingThreshold>
+  <m_angularSleepingThreshold type="float"> 1.000000 </m_angularSleepingThreshold>
+  <m_additionalDamping type="int"> 0 </m_additionalDamping>
+ </btRigidBodyFloatData>
+ <btRigidBodyFloatData pointer=10>
+  <m_collisionObjectData type="btCollisionObjectFloatData">
+    <m_broadphaseHandle type="pointer"> 0 </m_broadphaseHandle>
+    <m_collisionShape type="pointer"> 5 </m_collisionShape>
+    <m_rootCollisionShape type="pointer"> 0 </m_rootCollisionShape>
+    <m_name type="pointer"> 0 </m_name>
+    <m_worldTransform type="btTransformFloatData">
+      <m_basis type="btMatrix3x3FloatData">
+        <m_el type="btVector3FloatData" count=3>
+          <m_floats type="float" count=4> 1.000000  0.000000  0.000000  0.000000 </m_floats>
+          <m_floats type="float" count=4> 0.000000  1.000000  0.000000  0.000000 </m_floats>
+          <m_floats type="float" count=4> 0.000000  0.000000  1.000000  0.000000 </m_floats>
+        </m_el>
+      </m_basis>
+      <m_origin type="btVector3FloatData">
+        <m_floats type="float" count=4> -5.000000  22.166668  -3.000000  0.000000 </m_floats>
+      </m_origin>
+    </m_worldTransform>
+    <m_interpolationWorldTransform type="btTransformFloatData">
+      <m_basis type="btMatrix3x3FloatData">
+        <m_el type="btVector3FloatData" count=3>
+          <m_floats type="float" count=4> 1.000000  0.000000  0.000000  0.000000 </m_floats>
+          <m_floats type="float" count=4> 0.000000  1.000000  0.000000  0.000000 </m_floats>
+          <m_floats type="float" count=4> 0.000000  0.000000  1.000000  0.000000 </m_floats>
+        </m_el>
+      </m_basis>
+      <m_origin type="btVector3FloatData">
+        <m_floats type="float" count=4> -5.000000  22.166668  -3.000000  0.000000 </m_floats>
+      </m_origin>
+    </m_interpolationWorldTransform>
+    <m_interpolationLinearVelocity type="btVector3FloatData">
+      <m_floats type="float" count=4> 0.000000  -4.000000  0.000000  0.000000 </m_floats>
+    </m_interpolationLinearVelocity>
+    <m_interpolationAngularVelocity type="btVector3FloatData">
+      <m_floats type="float" count=4> 0.000000  0.000000  0.000000  0.000000 </m_floats>
+    </m_interpolationAngularVelocity>
+    <m_anisotropicFriction type="btVector3FloatData">
+      <m_floats type="float" count=4> 1.000000  1.000000  1.000000  0.000000 </m_floats>
+    </m_anisotropicFriction>
+    <m_contactProcessingThreshold type="float"> 999999984306749440.000000 </m_contactProcessingThreshold>
+    <m_deactivationTime type="float"> 0.000000 </m_deactivationTime>
+    <m_friction type="float"> 0.500000 </m_friction>
+    <m_rollingFriction type="float"> -431602080.000000 </m_rollingFriction>
+    <m_restitution type="float"> 0.000000 </m_restitution>
+    <m_hitFraction type="float"> 1.000000 </m_hitFraction>
+    <m_ccdSweptSphereRadius type="float"> 0.000000 </m_ccdSweptSphereRadius>
+    <m_ccdMotionThreshold type="float"> 0.000000 </m_ccdMotionThreshold>
+    <m_hasAnisotropicFriction type="int"> 0 </m_hasAnisotropicFriction>
+    <m_collisionFlags type="int"> 0 </m_collisionFlags>
+    <m_islandTag1 type="int"> 4 </m_islandTag1>
+    <m_companionId type="int"> -1 </m_companionId>
+    <m_activationState1 type="int"> 1 </m_activationState1>
+    <m_internalType type="int"> 2 </m_internalType>
+    <m_checkCollideWith type="int"> 0 </m_checkCollideWith>
+    <m_padding type="char" count=4> -51  -51  -51  -51 </m_padding>
+  </m_collisionObjectData>
+  <m_invInertiaTensorWorld type="btMatrix3x3FloatData">
+    <m_el type="btVector3FloatData" count=3>
+      <m_floats type="float" count=4> 1.500000  0.000000  0.000000  0.000000 </m_floats>
+      <m_floats type="float" count=4> 0.000000  1.500000  0.000000  0.000000 </m_floats>
+      <m_floats type="float" count=4> 0.000000  0.000000  1.500000  0.000000 </m_floats>
+    </m_el>
+  </m_invInertiaTensorWorld>
+  <m_linearVelocity type="btVector3FloatData">
+    <m_floats type="float" count=4> 0.000000  -4.000000  0.000000  0.000000 </m_floats>
+  </m_linearVelocity>
+  <m_angularVelocity type="btVector3FloatData">
+    <m_floats type="float" count=4> 0.000000  0.000000  0.000000  0.000000 </m_floats>
+  </m_angularVelocity>
+  <m_angularFactor type="btVector3FloatData">
+    <m_floats type="float" count=4> 1.000000  1.000000  1.000000  0.000000 </m_floats>
+  </m_angularFactor>
+  <m_linearFactor type="btVector3FloatData">
+    <m_floats type="float" count=4> 1.000000  1.000000  1.000000  0.000000 </m_floats>
+  </m_linearFactor>
+  <m_gravity type="btVector3FloatData">
+    <m_floats type="float" count=4> 0.000000  -10.000000  0.000000  0.000000 </m_floats>
+  </m_gravity>
+  <m_gravity_acceleration type="btVector3FloatData">
+    <m_floats type="float" count=4> 0.000000  -10.000000  0.000000  0.000000 </m_floats>
+  </m_gravity_acceleration>
+  <m_invInertiaLocal type="btVector3FloatData">
+    <m_floats type="float" count=4> 1.500000  1.500000  1.500000  0.000000 </m_floats>
+  </m_invInertiaLocal>
+  <m_totalForce type="btVector3FloatData">
+    <m_floats type="float" count=4> 0.000000  0.000000  0.000000  0.000000 </m_floats>
+  </m_totalForce>
+  <m_totalTorque type="btVector3FloatData">
+    <m_floats type="float" count=4> 0.000000  0.000000  0.000000  0.000000 </m_floats>
+  </m_totalTorque>
+  <m_inverseMass type="float"> 1.000000 </m_inverseMass>
+  <m_linearDamping type="float"> 0.000000 </m_linearDamping>
+  <m_angularDamping type="float"> 0.000000 </m_angularDamping>
+  <m_additionalDampingFactor type="float"> 0.005000 </m_additionalDampingFactor>
+  <m_additionalLinearDampingThresholdSqr type="float"> 0.010000 </m_additionalLinearDampingThresholdSqr>
+  <m_additionalAngularDampingThresholdSqr type="float"> 0.010000 </m_additionalAngularDampingThresholdSqr>
+  <m_additionalAngularDampingFactor type="float"> 0.010000 </m_additionalAngularDampingFactor>
+  <m_linearSleepingThreshold type="float"> 0.800000 </m_linearSleepingThreshold>
+  <m_angularSleepingThreshold type="float"> 1.000000 </m_angularSleepingThreshold>
+  <m_additionalDamping type="int"> 0 </m_additionalDamping>
+ </btRigidBodyFloatData>
+ <btConvexInternalShapeData pointer=3>
+  <m_collisionShapeData type="btCollisionShapeData">
+    <m_name type="pointer"> 0 </m_name>
+    <m_shapeType type="int"> 0 </m_shapeType>
+    <m_padding type="char" count=4> -51  -51  -51  -51 </m_padding>
+  </m_collisionShapeData>
+  <m_localScaling type="btVector3FloatData">
+    <m_floats type="float" count=4> 1.000000  1.000000  1.000000  0.000000 </m_floats>
+  </m_localScaling>
+  <m_implicitShapeDimensions type="btVector3FloatData">
+    <m_floats type="float" count=4> 49.959999  49.959999  49.959999  0.000000 </m_floats>
+  </m_implicitShapeDimensions>
+  <m_collisionMargin type="float"> 0.040000 </m_collisionMargin>
+  <m_padding type="int"> -842150451 </m_padding>
+ </btConvexInternalShapeData>
+ <btConvexInternalShapeData pointer=5>
+  <m_collisionShapeData type="btCollisionShapeData">
+    <m_name type="pointer"> 0 </m_name>
+    <m_shapeType type="int"> 0 </m_shapeType>
+    <m_padding type="char" count=4> -51  -51  -51  -51 </m_padding>
+  </m_collisionShapeData>
+  <m_localScaling type="btVector3FloatData">
+    <m_floats type="float" count=4> 1.000000  1.000000  1.000000  0.000000 </m_floats>
+  </m_localScaling>
+  <m_implicitShapeDimensions type="btVector3FloatData">
+    <m_floats type="float" count=4> 0.960000  0.960000  0.960000  0.000000 </m_floats>
+  </m_implicitShapeDimensions>
+  <m_collisionMargin type="float"> 0.040000 </m_collisionMargin>
+  <m_padding type="int"> -842150451 </m_padding>
+ </btConvexInternalShapeData>
+</bullet_physics>
diff --git a/Demos/BulletXmlImportDemo/bulletser.xml b/Demos/BulletXmlImportDemo/bulletser.xml
new file mode 100644
index 000000000..211d7bf51
--- /dev/null
+++ b/Demos/BulletXmlImportDemo/bulletser.xml
@@ -0,0 +1,24344 @@
+<?xml version="1.0" encoding="utf-8"?>
+<bullet_physics version=281 itemcount = 571>
+ <btRigidBodyFloatData pointer=3>
+  <m_collisionObjectData type="btCollisionObjectFloatData">
+    <m_broadphaseHandle type="pointer"> 0 </m_broadphaseHandle>
+    <m_collisionShape type="pointer"> 2 </m_collisionShape>
+    <m_rootCollisionShape type="pointer"> 0 </m_rootCollisionShape>
+    <m_name type="pointer"> 0 </m_name>
+    <m_worldTransform type="btTransformFloatData">
+      <m_basis type="btMatrix3x3FloatData">
+        <m_el type="btVector3FloatData" count=3>
+          <m_floats type="float" count=4> 1.000000  0.000000  0.000000  0.000000 </m_floats>
+          <m_floats type="float" count=4> 0.000000  1.000000  0.000000  0.000000 </m_floats>
+          <m_floats type="float" count=4> 0.000000  0.000000  1.000000  0.000000 </m_floats>
+        </m_el>
+      </m_basis>
+      <m_origin type="btVector3FloatData">
+        <m_floats type="float" count=4> 0.000000  -7.000000  0.000000  0.000000 </m_floats>
+      </m_origin>
+    </m_worldTransform>
+    <m_interpolationWorldTransform type="btTransformFloatData">
+      <m_basis type="btMatrix3x3FloatData">
+        <m_el type="btVector3FloatData" count=3>
+          <m_floats type="float" count=4> 1.000000  0.000000  0.000000  0.000000 </m_floats>
+          <m_floats type="float" count=4> 0.000000  1.000000  0.000000  0.000000 </m_floats>
+          <m_floats type="float" count=4> 0.000000  0.000000  1.000000  0.000000 </m_floats>
+        </m_el>
+      </m_basis>
+      <m_origin type="btVector3FloatData">
+        <m_floats type="float" count=4> 0.000000  -7.000000  0.000000  0.000000 </m_floats>
+      </m_origin>
+    </m_interpolationWorldTransform>
+    <m_interpolationLinearVelocity type="btVector3FloatData">
+      <m_floats type="float" count=4> 0.000000  0.000000  0.000000  0.000000 </m_floats>
+    </m_interpolationLinearVelocity>
+    <m_interpolationAngularVelocity type="btVector3FloatData">
+      <m_floats type="float" count=4> 0.000000  0.000000  0.000000  0.000000 </m_floats>
+    </m_interpolationAngularVelocity>
+    <m_anisotropicFriction type="btVector3FloatData">
+      <m_floats type="float" count=4> 1.000000  1.000000  1.000000  0.000000 </m_floats>
+    </m_anisotropicFriction>
+    <m_contactProcessingThreshold type="float"> 999999984306749440.000000 </m_contactProcessingThreshold>
+    <m_deactivationTime type="float"> 0.000000 </m_deactivationTime>
+    <m_friction type="float"> 0.500000 </m_friction>
+    <m_restitution type="float"> 0.000000 </m_restitution>
+    <m_hitFraction type="float"> 1.000000 </m_hitFraction>
+    <m_ccdSweptSphereRadius type="float"> 0.000000 </m_ccdSweptSphereRadius>
+    <m_ccdMotionThreshold type="float"> 0.000000 </m_ccdMotionThreshold>
+    <m_hasAnisotropicFriction type="int"> 0 </m_hasAnisotropicFriction>
+    <m_collisionFlags type="int"> 1 </m_collisionFlags>
+    <m_islandTag1 type="int"> -1 </m_islandTag1>
+    <m_companionId type="int"> -2 </m_companionId>
+    <m_activationState1 type="int"> 2 </m_activationState1>
+    <m_internalType type="int"> 2 </m_internalType>
+    <m_checkCollideWith type="int"> 0 </m_checkCollideWith>
+  </m_collisionObjectData>
+  <m_invInertiaTensorWorld type="btMatrix3x3FloatData">
+    <m_el type="btVector3FloatData" count=3>
+      <m_floats type="float" count=4> 0.000000  0.000000  0.000000  0.000000 </m_floats>
+      <m_floats type="float" count=4> 0.000000  0.000000  0.000000  0.000000 </m_floats>
+      <m_floats type="float" count=4> 0.000000  0.000000  0.000000  0.000000 </m_floats>
+    </m_el>
+  </m_invInertiaTensorWorld>
+  <m_linearVelocity type="btVector3FloatData">
+    <m_floats type="float" count=4> 0.000000  0.000000  0.000000  0.000000 </m_floats>
+  </m_linearVelocity>
+  <m_angularVelocity type="btVector3FloatData">
+    <m_floats type="float" count=4> 0.000000  0.000000  0.000000  0.000000 </m_floats>
+  </m_angularVelocity>
+  <m_angularFactor type="btVector3FloatData">
+    <m_floats type="float" count=4> 1.000000  1.000000  1.000000  0.000000 </m_floats>
+  </m_angularFactor>
+  <m_linearFactor type="btVector3FloatData">
+    <m_floats type="float" count=4> 1.000000  1.000000  1.000000  0.000000 </m_floats>
+  </m_linearFactor>
+  <m_gravity type="btVector3FloatData">
+    <m_floats type="float" count=4> 0.000000  0.000000  0.000000  0.000000 </m_floats>
+  </m_gravity>
+  <m_gravity_acceleration type="btVector3FloatData">
+    <m_floats type="float" count=4> 0.000000  0.000000  0.000000  0.000000 </m_floats>
+  </m_gravity_acceleration>
+  <m_invInertiaLocal type="btVector3FloatData">
+    <m_floats type="float" count=4> 0.000000  0.000000  0.000000  0.000000 </m_floats>
+  </m_invInertiaLocal>
+  <m_totalForce type="btVector3FloatData">
+    <m_floats type="float" count=4> 0.000000  0.000000  0.000000  0.000000 </m_floats>
+  </m_totalForce>
+  <m_totalTorque type="btVector3FloatData">
+    <m_floats type="float" count=4> 0.000000  0.000000  0.000000  0.000000 </m_floats>
+  </m_totalTorque>
+  <m_inverseMass type="float"> 0.000000 </m_inverseMass>
+  <m_linearDamping type="float"> 0.000000 </m_linearDamping>
+  <m_angularDamping type="float"> 0.000000 </m_angularDamping>
+  <m_additionalDampingFactor type="float"> 0.005000 </m_additionalDampingFactor>
+  <m_additionalLinearDampingThresholdSqr type="float"> 0.010000 </m_additionalLinearDampingThresholdSqr>
+  <m_additionalAngularDampingThresholdSqr type="float"> 0.010000 </m_additionalAngularDampingThresholdSqr>
+  <m_additionalAngularDampingFactor type="float"> 0.010000 </m_additionalAngularDampingFactor>
+  <m_linearSleepingThreshold type="float"> 0.800000 </m_linearSleepingThreshold>
+  <m_angularSleepingThreshold type="float"> 1.000000 </m_angularSleepingThreshold>
+  <m_additionalDamping type="int"> 0 </m_additionalDamping>
+ </btRigidBodyFloatData>
+ <btRigidBodyFloatData pointer=5>
+  <m_collisionObjectData type="btCollisionObjectFloatData">
+    <m_broadphaseHandle type="pointer"> 0 </m_broadphaseHandle>
+    <m_collisionShape type="pointer"> 4 </m_collisionShape>
+    <m_rootCollisionShape type="pointer"> 0 </m_rootCollisionShape>
+    <m_name type="pointer"> 0 </m_name>
+    <m_worldTransform type="btTransformFloatData">
+      <m_basis type="btMatrix3x3FloatData">
+        <m_el type="btVector3FloatData" count=3>
+          <m_floats type="float" count=4> 0.264808  0.292382  0.918907  0.000000 </m_floats>
+          <m_floats type="float" count=4> 0.957898  0.029880  -0.285551  0.000000 </m_floats>
+          <m_floats type="float" count=4> -0.110947  0.955835  -0.272160  0.000000 </m_floats>
+        </m_el>
+      </m_basis>
+      <m_origin type="btVector3FloatData">
+        <m_floats type="float" count=4> -10.018404  16.045120  -1.137200  0.000000 </m_floats>
+      </m_origin>
+    </m_worldTransform>
+    <m_interpolationWorldTransform type="btTransformFloatData">
+      <m_basis type="btMatrix3x3FloatData">
+        <m_el type="btVector3FloatData" count=3>
+          <m_floats type="float" count=4> 0.264808  0.292382  0.918907  0.000000 </m_floats>
+          <m_floats type="float" count=4> 0.957898  0.029880  -0.285551  0.000000 </m_floats>
+          <m_floats type="float" count=4> -0.110947  0.955835  -0.272160  0.000000 </m_floats>
+        </m_el>
+      </m_basis>
+      <m_origin type="btVector3FloatData">
+        <m_floats type="float" count=4> -10.018404  16.045120  -1.137200  0.000000 </m_floats>
+      </m_origin>
+    </m_interpolationWorldTransform>
+    <m_interpolationLinearVelocity type="btVector3FloatData">
+      <m_floats type="float" count=4> 0.000313  -3.168241  0.001859  0.000000 </m_floats>
+    </m_interpolationLinearVelocity>
+    <m_interpolationAngularVelocity type="btVector3FloatData">
+      <m_floats type="float" count=4> -0.000187  0.000277  0.000288  0.000000 </m_floats>
+    </m_interpolationAngularVelocity>
+    <m_anisotropicFriction type="btVector3FloatData">
+      <m_floats type="float" count=4> 1.000000  1.000000  1.000000  0.000000 </m_floats>
+    </m_anisotropicFriction>
+    <m_contactProcessingThreshold type="float"> 999999984306749440.000000 </m_contactProcessingThreshold>
+    <m_deactivationTime type="float"> 0.000000 </m_deactivationTime>
+    <m_friction type="float"> 0.500000 </m_friction>
+    <m_restitution type="float"> 0.100000 </m_restitution>
+    <m_hitFraction type="float"> 1.000000 </m_hitFraction>
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+  <m_angularSleepingThreshold type="float"> 1.000000 </m_angularSleepingThreshold>
+  <m_additionalDamping type="int"> 0 </m_additionalDamping>
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+  <m_angularSleepingThreshold type="float"> 1.000000 </m_angularSleepingThreshold>
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+      <m_floats type="float" count=4> -0.000171  0.000335  0.000309  0.000000 </m_floats>
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+    <m_deactivationTime type="float"> 0.000000 </m_deactivationTime>
+    <m_friction type="float"> 0.500000 </m_friction>
+    <m_restitution type="float"> 0.100000 </m_restitution>
+    <m_hitFraction type="float"> 1.000000 </m_hitFraction>
+    <m_ccdSweptSphereRadius type="float"> 0.000000 </m_ccdSweptSphereRadius>
+    <m_ccdMotionThreshold type="float"> 0.000000 </m_ccdMotionThreshold>
+    <m_hasAnisotropicFriction type="int"> 0 </m_hasAnisotropicFriction>
+    <m_collisionFlags type="int"> 0 </m_collisionFlags>
+    <m_islandTag1 type="int"> 84 </m_islandTag1>
+    <m_companionId type="int"> -1 </m_companionId>
+    <m_activationState1 type="int"> 1 </m_activationState1>
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+  <m_additionalAngularDampingThresholdSqr type="float"> 0.010000 </m_additionalAngularDampingThresholdSqr>
+  <m_additionalAngularDampingFactor type="float"> 0.010000 </m_additionalAngularDampingFactor>
+  <m_linearSleepingThreshold type="float"> 0.800000 </m_linearSleepingThreshold>
+  <m_angularSleepingThreshold type="float"> 1.000000 </m_angularSleepingThreshold>
+  <m_additionalDamping type="int"> 0 </m_additionalDamping>
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+ <btRigidBodyFloatData pointer=21>
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+          <m_floats type="float" count=4> -0.121047  0.959132  -0.255759  0.000000 </m_floats>
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+          <m_floats type="float" count=4> -0.121047  0.959132  -0.255759  0.000000 </m_floats>
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+      <m_origin type="btVector3FloatData">
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+      <m_floats type="float" count=4> -0.000193  0.000324  0.000295  0.000000 </m_floats>
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+    <m_deactivationTime type="float"> 0.000000 </m_deactivationTime>
+    <m_friction type="float"> 0.500000 </m_friction>
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+    <m_hitFraction type="float"> 1.000000 </m_hitFraction>
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+    <m_hasAnisotropicFriction type="int"> 0 </m_hasAnisotropicFriction>
+    <m_collisionFlags type="int"> 0 </m_collisionFlags>
+    <m_islandTag1 type="int"> 84 </m_islandTag1>
+    <m_companionId type="int"> -1 </m_companionId>
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+    <m_floats type="float" count=4> 1.400687  1.087075  1.234175  0.000000 </m_floats>
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+  <m_additionalAngularDampingFactor type="float"> 0.010000 </m_additionalAngularDampingFactor>
+  <m_linearSleepingThreshold type="float"> 0.800000 </m_linearSleepingThreshold>
+  <m_angularSleepingThreshold type="float"> 1.000000 </m_angularSleepingThreshold>
+  <m_additionalDamping type="int"> 0 </m_additionalDamping>
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+ <btRigidBodyFloatData pointer=23>
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+    <m_deactivationTime type="float"> 0.000000 </m_deactivationTime>
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+  <m_angularSleepingThreshold type="float"> 1.000000 </m_angularSleepingThreshold>
+  <m_additionalDamping type="int"> 0 </m_additionalDamping>
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+  <m_angularSleepingThreshold type="float"> 1.000000 </m_angularSleepingThreshold>
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+  <m_additionalAngularDampingThresholdSqr type="float"> 0.010000 </m_additionalAngularDampingThresholdSqr>
+  <m_additionalAngularDampingFactor type="float"> 0.010000 </m_additionalAngularDampingFactor>
+  <m_linearSleepingThreshold type="float"> 0.800000 </m_linearSleepingThreshold>
+  <m_angularSleepingThreshold type="float"> 1.000000 </m_angularSleepingThreshold>
+  <m_additionalDamping type="int"> 0 </m_additionalDamping>
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+    <m_islandTag1 type="int"> 84 </m_islandTag1>
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+  <m_additionalAngularDampingFactor type="float"> 0.010000 </m_additionalAngularDampingFactor>
+  <m_linearSleepingThreshold type="float"> 0.800000 </m_linearSleepingThreshold>
+  <m_angularSleepingThreshold type="float"> 1.000000 </m_angularSleepingThreshold>
+  <m_additionalDamping type="int"> 0 </m_additionalDamping>
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+  <m_angularSleepingThreshold type="float"> 1.000000 </m_angularSleepingThreshold>
+  <m_additionalDamping type="int"> 0 </m_additionalDamping>
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+  <m_angularSleepingThreshold type="float"> 1.000000 </m_angularSleepingThreshold>
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+  <m_additionalAngularDampingFactor type="float"> 0.010000 </m_additionalAngularDampingFactor>
+  <m_linearSleepingThreshold type="float"> 0.800000 </m_linearSleepingThreshold>
+  <m_angularSleepingThreshold type="float"> 1.000000 </m_angularSleepingThreshold>
+  <m_additionalDamping type="int"> 0 </m_additionalDamping>
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+  <m_angularSleepingThreshold type="float"> 1.000000 </m_angularSleepingThreshold>
+  <m_additionalDamping type="int"> 0 </m_additionalDamping>
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+  <m_angularSleepingThreshold type="float"> 1.000000 </m_angularSleepingThreshold>
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+  <m_angularSleepingThreshold type="float"> 1.000000 </m_angularSleepingThreshold>
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+  <m_angularSleepingThreshold type="float"> 1.000000 </m_angularSleepingThreshold>
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+  <m_angularSleepingThreshold type="float"> 1.000000 </m_angularSleepingThreshold>
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+  <m_angularSleepingThreshold type="float"> 1.000000 </m_angularSleepingThreshold>
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+  <m_angularSleepingThreshold type="float"> 1.000000 </m_angularSleepingThreshold>
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+  <m_angularSleepingThreshold type="float"> 1.000000 </m_angularSleepingThreshold>
+  <m_additionalDamping type="int"> 0 </m_additionalDamping>
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+  <m_angularSleepingThreshold type="float"> 1.000000 </m_angularSleepingThreshold>
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+  <m_additionalAngularDampingThresholdSqr type="float"> 0.010000 </m_additionalAngularDampingThresholdSqr>
+  <m_additionalAngularDampingFactor type="float"> 0.010000 </m_additionalAngularDampingFactor>
+  <m_linearSleepingThreshold type="float"> 0.800000 </m_linearSleepingThreshold>
+  <m_angularSleepingThreshold type="float"> 1.000000 </m_angularSleepingThreshold>
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diff --git a/Demos/BulletXmlImportDemo/main.cpp b/Demos/BulletXmlImportDemo/main.cpp
new file mode 100644
index 000000000..d70709ded
--- /dev/null
+++ b/Demos/BulletXmlImportDemo/main.cpp
@@ -0,0 +1,109 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2007 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+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.
+*/
+
+#include "BulletXmlImportDemo.h"
+#include "GlutStuff.h"
+#include "GLDebugDrawer.h"
+#include "btBulletDynamicsCommon.h"
+#include "LinearMath/btHashMap.h"
+
+
+
+#ifdef USE_AMD_OPENCL
+
+
+
+#include "btOpenCLUtils.h"
+
+#include <LinearMath/btScalar.h>
+
+cl_context        g_cxMainContext;
+cl_device_id      g_cdDevice;
+cl_command_queue  g_cqCommandQue;
+
+
+// Returns true if OpenCL is initialized properly, false otherwise.
+bool initCL( void* glCtx, void* glDC )
+{
+	const char* vendorSDK = btOpenCLUtils::getSdkVendorName();
+	printf("This program was compiled using the %s OpenCL SDK\n",vendorSDK);
+
+    int ciErrNum = 0;
+
+#ifdef BT_USE_CLEW
+    ciErrNum = clewInit( "OpenCL.dll" );
+    if ( ciErrNum != CLEW_SUCCESS ) {
+        return false;
+    }
+#endif
+
+#if defined(CL_PLATFORM_MINI_CL)
+    cl_device_type deviceType = CL_DEVICE_TYPE_CPU;
+#elif defined(CL_PLATFORM_AMD)
+    cl_device_type deviceType = CL_DEVICE_TYPE_GPU;
+#elif defined(CL_PLATFORM_NVIDIA)
+    cl_device_type deviceType = CL_DEVICE_TYPE_GPU;
+#else
+    cl_device_type deviceType = CL_DEVICE_TYPE_CPU;
+#endif
+
+	g_cxMainContext = btOpenCLUtils::createContextFromType(deviceType, &ciErrNum, glCtx, glDC);
+    oclCHECKERROR(ciErrNum, CL_SUCCESS);
+
+	int numDev = btOpenCLUtils::getNumDevices(g_cxMainContext);
+	if (!numDev)
+		return false;
+
+    g_cdDevice =  btOpenCLUtils::getDevice(g_cxMainContext,0);
+    
+    btOpenCLDeviceInfo clInfo;
+	btOpenCLUtils::getDeviceInfo(g_cdDevice,clInfo);
+	btOpenCLUtils::printDeviceInfo(g_cdDevice);
+
+    // create a command-queue
+    g_cqCommandQue = clCreateCommandQueue(g_cxMainContext, g_cdDevice, 0, &ciErrNum);
+    oclCHECKERROR(ciErrNum, CL_SUCCESS);
+
+    return true;
+}
+
+#endif //#ifdef USE_AMD_OPENCL
+
+	
+int main(int argc,char** argv)
+{
+	GLDebugDrawer	gDebugDrawer;
+#ifdef USE_AMD_OPENCL
+	
+	bool initialized = initCL(0,0);
+	btAssert(initialized);
+#endif //USE_AMD_OPENCL
+
+	
+	BulletXmlImportDemo serializeDemo;
+	serializeDemo.initPhysics();
+	serializeDemo.getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
+
+
+#ifdef CHECK_MEMORY_LEAKS
+	serializeDemo.exitPhysics();
+#else
+	return glutmain(argc, argv,640,480,"Bullet Physics Demo. http://bulletphysics.org",&serializeDemo);
+#endif
+	
+	//default glut doesn't return from mainloop
+	return 0;
+}
+
diff --git a/Extras/Serialize/BulletFileLoader/autogenerated/bullet.h b/Extras/Serialize/BulletFileLoader/autogenerated/bullet.h
index d6278f734..90ea88682 100644
--- a/Extras/Serialize/BulletFileLoader/autogenerated/bullet.h
+++ b/Extras/Serialize/BulletFileLoader/autogenerated/bullet.h
@@ -64,6 +64,8 @@ typedef struct bInvalidHandle {
     class btConvexHullShapeData;
     class btCollisionObjectDoubleData;
     class btCollisionObjectFloatData;
+    class btDynamicsWorldDoubleData;
+    class btDynamicsWorldFloatData;
     class btRigidBodyFloatData;
     class btRigidBodyDoubleData;
     class btConstraintInfo1;
@@ -76,6 +78,8 @@ typedef struct bInvalidHandle {
     class btGeneric6DofConstraintData;
     class btGeneric6DofSpringConstraintData;
     class btSliderConstraintData;
+    class btContactSolverInfoDoubleData;
+    class btContactSolverInfoFloatData;
     class SoftBodyMaterialData;
     class SoftBodyNodeData;
     class SoftBodyLinkData;
@@ -503,6 +507,7 @@ typedef struct bInvalidHandle {
         double m_contactProcessingThreshold;
         double m_deactivationTime;
         double m_friction;
+        double m_rollingFriction;
         double m_restitution;
         double m_hitFraction;
         double m_ccdSweptSphereRadius;
@@ -534,6 +539,7 @@ typedef struct bInvalidHandle {
         float m_contactProcessingThreshold;
         float m_deactivationTime;
         float m_friction;
+        float m_rollingFriction;
         float m_restitution;
         float m_hitFraction;
         float m_ccdSweptSphereRadius;
@@ -545,6 +551,25 @@ 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;
     };
 
 
@@ -628,7 +653,9 @@ typedef struct bInvalidHandle {
         float m_appliedImpulse;
         float m_dbgDrawSize;
         int m_disableCollisionsBetweenLinkedBodies;
-        char m_pad4[4];
+        int m_overrideNumSolverIterations;
+        float m_breakingImpulseThreshold;
+        int m_isEnabled;
     };
 
 
@@ -754,6 +781,64 @@ typedef struct bInvalidHandle {
     };
 
 
+// -------------------------------------------------- //
+    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
     {
diff --git a/Extras/Serialize/BulletFileLoader/btBulletFile.cpp b/Extras/Serialize/BulletFileLoader/btBulletFile.cpp
index bfc708e54..d2f8bf05f 100644
--- a/Extras/Serialize/BulletFileLoader/btBulletFile.cpp
+++ b/Extras/Serialize/BulletFileLoader/btBulletFile.cpp
@@ -174,6 +174,11 @@ void btBulletFile::parseData()
 					m_rigidBodies.push_back((bStructHandle*) id);
 				}
 
+				if (dataChunk.code == BT_DYNAMICSWORLD_CODE)
+				{
+					m_dynamicsWorldInfo.push_back((bStructHandle*) id);
+				}
+
 				if (dataChunk.code == BT_CONSTRAINT_CODE)
 				{
 					m_constraints.push_back((bStructHandle*) id);
diff --git a/Extras/Serialize/BulletFileLoader/btBulletFile.h b/Extras/Serialize/BulletFileLoader/btBulletFile.h
index 7efcedf12..c4d735622 100644
--- a/Extras/Serialize/BulletFileLoader/btBulletFile.h
+++ b/Extras/Serialize/BulletFileLoader/btBulletFile.h
@@ -51,7 +51,9 @@ namespace bParse {
 		btAlignedObjectArray<bStructHandle*>	m_bvhs;
 
 		btAlignedObjectArray<bStructHandle*>	m_triangleInfoMaps;
-		
+
+		btAlignedObjectArray<bStructHandle*>	m_dynamicsWorldInfo;
+
 		btAlignedObjectArray<char*>				m_dataBlocks;
 		btBulletFile();
 
diff --git a/Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.cpp b/Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.cpp
index cd2a7b97a..4b76ffa32 100644
--- a/Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.cpp
+++ b/Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.cpp
@@ -133,7 +133,82 @@ bool	btBulletWorldImporter::convertAllObjects(  bParse::btBulletFile* bulletFile
 
 
 	
+	for (int i=0;i<bulletFile2->m_dynamicsWorldInfo.size();i++)
+	{
+		if (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION)
+		{
+			btDynamicsWorldDoubleData* solverInfoData = (btDynamicsWorldDoubleData*)bulletFile2->m_dynamicsWorldInfo[i];
+			btContactSolverInfo solverInfo;
 
+			btVector3 gravity;
+			gravity.deSerializeDouble(solverInfoData->m_gravity);
+
+			solverInfo.m_tau = solverInfoData->m_solverInfo.m_tau;
+			solverInfo.m_damping = solverInfoData->m_solverInfo.m_damping;
+			solverInfo.m_friction = solverInfoData->m_solverInfo.m_friction;
+			solverInfo.m_timeStep = solverInfoData->m_solverInfo.m_timeStep;
+
+			solverInfo.m_restitution = solverInfoData->m_solverInfo.m_restitution;
+			solverInfo.m_maxErrorReduction = solverInfoData->m_solverInfo.m_maxErrorReduction;
+			solverInfo.m_sor = solverInfoData->m_solverInfo.m_sor;
+			solverInfo.m_erp = solverInfoData->m_solverInfo.m_erp;
+
+			solverInfo.m_erp2 = solverInfoData->m_solverInfo.m_erp2;
+			solverInfo.m_globalCfm = solverInfoData->m_solverInfo.m_globalCfm;
+			solverInfo.m_splitImpulsePenetrationThreshold = solverInfoData->m_solverInfo.m_splitImpulsePenetrationThreshold;
+			solverInfo.m_splitImpulseTurnErp = solverInfoData->m_solverInfo.m_splitImpulseTurnErp;
+		
+			solverInfo.m_linearSlop = solverInfoData->m_solverInfo.m_linearSlop;
+			solverInfo.m_warmstartingFactor = solverInfoData->m_solverInfo.m_warmstartingFactor;
+			solverInfo.m_maxGyroscopicForce = solverInfoData->m_solverInfo.m_maxGyroscopicForce;
+			solverInfo.m_singleAxisRollingFrictionThreshold = solverInfoData->m_solverInfo.m_singleAxisRollingFrictionThreshold;
+		
+			solverInfo.m_numIterations = solverInfoData->m_solverInfo.m_numIterations;
+			solverInfo.m_solverMode = solverInfoData->m_solverInfo.m_solverMode;
+			solverInfo.m_restingContactRestitutionThreshold = solverInfoData->m_solverInfo.m_restingContactRestitutionThreshold;
+			solverInfo.m_minimumSolverBatchSize = solverInfoData->m_solverInfo.m_minimumSolverBatchSize;
+		
+			solverInfo.m_splitImpulse = solverInfoData->m_solverInfo.m_splitImpulse;
+
+			setDynamicsWorldInfo(gravity,solverInfo);
+		} else
+		{
+			btDynamicsWorldFloatData* solverInfoData = (btDynamicsWorldFloatData*)bulletFile2->m_dynamicsWorldInfo[i];
+			btContactSolverInfo solverInfo;
+
+			btVector3 gravity;
+			gravity.deSerializeFloat(solverInfoData->m_gravity);
+
+			solverInfo.m_tau = solverInfoData->m_solverInfo.m_tau;
+			solverInfo.m_damping = solverInfoData->m_solverInfo.m_damping;
+			solverInfo.m_friction = solverInfoData->m_solverInfo.m_friction;
+			solverInfo.m_timeStep = solverInfoData->m_solverInfo.m_timeStep;
+
+			solverInfo.m_restitution = solverInfoData->m_solverInfo.m_restitution;
+			solverInfo.m_maxErrorReduction = solverInfoData->m_solverInfo.m_maxErrorReduction;
+			solverInfo.m_sor = solverInfoData->m_solverInfo.m_sor;
+			solverInfo.m_erp = solverInfoData->m_solverInfo.m_erp;
+
+			solverInfo.m_erp2 = solverInfoData->m_solverInfo.m_erp2;
+			solverInfo.m_globalCfm = solverInfoData->m_solverInfo.m_globalCfm;
+			solverInfo.m_splitImpulsePenetrationThreshold = solverInfoData->m_solverInfo.m_splitImpulsePenetrationThreshold;
+			solverInfo.m_splitImpulseTurnErp = solverInfoData->m_solverInfo.m_splitImpulseTurnErp;
+		
+			solverInfo.m_linearSlop = solverInfoData->m_solverInfo.m_linearSlop;
+			solverInfo.m_warmstartingFactor = solverInfoData->m_solverInfo.m_warmstartingFactor;
+			solverInfo.m_maxGyroscopicForce = solverInfoData->m_solverInfo.m_maxGyroscopicForce;
+			solverInfo.m_singleAxisRollingFrictionThreshold = solverInfoData->m_solverInfo.m_singleAxisRollingFrictionThreshold;
+		
+			solverInfo.m_numIterations = solverInfoData->m_solverInfo.m_numIterations;
+			solverInfo.m_solverMode = solverInfoData->m_solverInfo.m_solverMode;
+			solverInfo.m_restingContactRestitutionThreshold = solverInfoData->m_solverInfo.m_restingContactRestitutionThreshold;
+			solverInfo.m_minimumSolverBatchSize = solverInfoData->m_solverInfo.m_minimumSolverBatchSize;
+		
+			solverInfo.m_splitImpulse = solverInfoData->m_solverInfo.m_splitImpulse;
+
+			setDynamicsWorldInfo(gravity,solverInfo);
+		}
+	}
 
 
 	for (i=0;i<bulletFile2->m_rigidBodies.size();i++)
@@ -141,51 +216,14 @@ bool	btBulletWorldImporter::convertAllObjects(  bParse::btBulletFile* bulletFile
 		if (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION)
 		{
 			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 = m_shapeMap.find(colObjData->m_collisionObjectData.m_collisionShape);
-			if (shapePtr && *shapePtr)
-			{
-				btTransform startTransform;
-				colObjData->m_collisionObjectData.m_worldTransform.m_origin.m_floats[3] = 0.f;
-				startTransform.deSerializeDouble(colObjData->m_collisionObjectData.m_worldTransform);
-				
-			//	startTransform.setBasis(btMatrix3x3::getIdentity());
-				btCollisionShape* shape = (btCollisionShape*)*shapePtr;
-				if (shape->isNonMoving())
-				{
-					mass = 0.f;
-				}
-
-				if (mass)
-				{
-					shape->calculateLocalInertia(mass,localInertia);
-				}
-				bool isDynamic = mass!=0.f;
-				
-				btRigidBody* body = createRigidBody(isDynamic,mass,startTransform,shape,colObjData->m_collisionObjectData.m_name);
-#ifdef USE_INTERNAL_EDGE_UTILITY
-				if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
-				{
-					btBvhTriangleMeshShape* trimesh = (btBvhTriangleMeshShape*)shape;
-					if (trimesh->getTriangleInfoMap())
-					{
-						body->setCollisionFlags(body->getCollisionFlags()  | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
-					}
-				}
-#endif //USE_INTERNAL_EDGE_UTILITY
-				m_bodyMap.insert(colObjData,body);
-			} else
-			{
-				printf("error: no shape found\n");
-			}
-	
+			convertRigidBodyDouble(colObjData);
 		} else
 		{
 			btRigidBodyFloatData* colObjData = (btRigidBodyFloatData*)bulletFile2->m_rigidBodies[i];
-			convertRigidBody(colObjData);
+			convertRigidBodyFloat(colObjData);
 		}
+
+		
 	}
 
 	for (i=0;i<bulletFile2->m_collisionObjects.size();i++)
diff --git a/Extras/Serialize/BulletWorldImporter/btWorldImporter.cpp b/Extras/Serialize/BulletWorldImporter/btWorldImporter.cpp
index 3d4dc123a..0e6daec31 100644
--- a/Extras/Serialize/BulletWorldImporter/btWorldImporter.cpp
+++ b/Extras/Serialize/BulletWorldImporter/btWorldImporter.cpp
@@ -968,7 +968,15 @@ btCollisionObject* btWorldImporter::createCollisionObject(const btTransform& sta
 	return createRigidBody(false,0,startTransform,shape,bodyName);
 }
 
+void	btWorldImporter::setDynamicsWorldInfo(const btVector3& gravity, const btContactSolverInfo& solverInfo)
+{
+	if (m_dynamicsWorld)
+	{
+		m_dynamicsWorld->setGravity(gravity);
+		m_dynamicsWorld->getSolverInfo() = solverInfo;
+	}
 
+}
 
 btRigidBody*  btWorldImporter::createRigidBody(bool isDynamic, btScalar mass, const btTransform& startTransform,btCollisionShape* shape,const char* bodyName)
 {
@@ -1310,7 +1318,8 @@ btTriangleInfoMap* btWorldImporter::getTriangleInfoMapByIndex(int index) const
 	return m_allocatedTriangleInfoMaps[index];
 }
 
-void	btWorldImporter::convertRigidBody( btRigidBodyFloatData* colObjData)
+
+void	btWorldImporter::convertRigidBodyFloat( btRigidBodyFloatData* colObjData)
 {
 	btScalar mass = btScalar(colObjData->m_inverseMass? 1.f/colObjData->m_inverseMass : 0.f);
 	btVector3 localInertia;
@@ -1349,7 +1358,51 @@ void	btWorldImporter::convertRigidBody( btRigidBodyFloatData* colObjData)
 		}
 #endif //USE_INTERNAL_EDGE_UTILITY
 		m_bodyMap.insert(colObjData,body);
-		printf("colObjData = %lx\n", colObjData);
+	} else
+	{
+		printf("error: no shape found\n");
+	}
+}
+
+void	btWorldImporter::convertRigidBodyDouble( btRigidBodyDoubleData* colObjData)
+{
+	btScalar mass = btScalar(colObjData->m_inverseMass? 1.f/colObjData->m_inverseMass : 0.f);
+	btVector3 localInertia;
+	localInertia.setZero();
+	btCollisionShape** shapePtr = m_shapeMap.find(colObjData->m_collisionObjectData.m_collisionShape);
+	if (shapePtr && *shapePtr)
+	{
+		btTransform startTransform;
+		colObjData->m_collisionObjectData.m_worldTransform.m_origin.m_floats[3] = 0.f;
+		startTransform.deSerializeDouble(colObjData->m_collisionObjectData.m_worldTransform);
+				
+	//	startTransform.setBasis(btMatrix3x3::getIdentity());
+		btCollisionShape* shape = (btCollisionShape*)*shapePtr;
+		if (shape->isNonMoving())
+		{
+			mass = 0.f;
+		}
+		if (mass)
+		{
+			shape->calculateLocalInertia(mass,localInertia);
+		}
+		bool isDynamic = mass!=0.f;
+		btRigidBody* body = createRigidBody(isDynamic,mass,startTransform,shape,colObjData->m_collisionObjectData.m_name);
+		body->setFriction(colObjData->m_collisionObjectData.m_friction);
+		body->setRestitution(colObjData->m_collisionObjectData.m_restitution);
+				
+
+#ifdef USE_INTERNAL_EDGE_UTILITY
+		if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
+		{
+			btBvhTriangleMeshShape* trimesh = (btBvhTriangleMeshShape*)shape;
+			if (trimesh->getTriangleInfoMap())
+			{
+				body->setCollisionFlags(body->getCollisionFlags()  | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
+			}
+		}
+#endif //USE_INTERNAL_EDGE_UTILITY
+		m_bodyMap.insert(colObjData,body);
 	} else
 	{
 		printf("error: no shape found\n");
diff --git a/Extras/Serialize/BulletWorldImporter/btWorldImporter.h b/Extras/Serialize/BulletWorldImporter/btWorldImporter.h
index 88a9c31f2..b321db725 100644
--- a/Extras/Serialize/BulletWorldImporter/btWorldImporter.h
+++ b/Extras/Serialize/BulletWorldImporter/btWorldImporter.h
@@ -43,10 +43,19 @@ class btConeTwistConstraint;
 class btGeneric6DofConstraint;
 class btGeneric6DofSpringConstraint;
 class btSliderConstraint;
+struct btContactSolverInfo;
+struct btTypedConstraintData;
 
-class btTypedConstraintData;
+struct btRigidBodyDoubleData;
 struct btRigidBodyFloatData;
 
+#ifdef BT_USE_DOUBLE_PRECISION
+#define btRigidBodyData btRigidBodyDoubleData
+#else
+#define btRigidBodyData btRigidBodyFloatData
+#endif//BT_USE_DOUBLE_PRECISION
+
+
 class btWorldImporter
 {
 protected:
@@ -92,7 +101,8 @@ protected:
 
 	btCollisionShape* convertCollisionShape(  btCollisionShapeData* shapeData  );
 	void	convertConstraint(btTypedConstraintData* constraintData, btRigidBody* rbA, btRigidBody* rbB, bool isDoublePrecisionData, int fileVersion);
-	void	convertRigidBody(btRigidBodyFloatData* colObjData);
+	void	convertRigidBodyFloat(btRigidBodyFloatData* colObjData);
+	void	convertRigidBodyDouble( btRigidBodyDoubleData* colObjData);
 
 public:
 	
@@ -134,6 +144,8 @@ public:
 
 	///those virtuals are called by load and can be overridden by the user
 
+	virtual void	setDynamicsWorldInfo(const btVector3& gravity, const btContactSolverInfo& solverInfo);
+
 	//bodies
 	virtual btRigidBody*  createRigidBody(bool isDynamic, 	btScalar mass, 	const btTransform& startTransform,	btCollisionShape* shape,const char* bodyName);
 	virtual btCollisionObject*  createCollisionObject(	const btTransform& startTransform,	btCollisionShape* shape,const char* bodyName);
diff --git a/Extras/Serialize/BulletXmlWorldImporter/btBulletXmlWorldImporter.cpp b/Extras/Serialize/BulletXmlWorldImporter/btBulletXmlWorldImporter.cpp
index 21ca2594b..3e3385058 100644
--- a/Extras/Serialize/BulletXmlWorldImporter/btBulletXmlWorldImporter.cpp
+++ b/Extras/Serialize/BulletXmlWorldImporter/btBulletXmlWorldImporter.cpp
@@ -20,7 +20,8 @@ subject to the following restrictions:
 
 btBulletXmlWorldImporter::btBulletXmlWorldImporter(btDynamicsWorld* world)
 	:btWorldImporter(world),
-	m_fileVersion(-1)
+	m_fileVersion(-1),
+	m_fileOk(false)
 {
 
 }
@@ -337,9 +338,8 @@ void btBulletXmlWorldImporter::deSerializeGeneric6DofConstraintData(TiXmlNode* p
 	TiXmlNode* n = pParent->FirstChild("m_typeConstraintData");
 	if (n)
 	{
-
-		SET_POINTER_VALUE(n,dof6Data->m_typeConstraintData,m_rbA,btRigidBodyFloatData*);
-		SET_POINTER_VALUE(n,dof6Data->m_typeConstraintData,m_rbB,btRigidBodyFloatData*);
+		SET_POINTER_VALUE(n,dof6Data->m_typeConstraintData,m_rbA,btRigidBodyData*);
+		SET_POINTER_VALUE(n,dof6Data->m_typeConstraintData,m_rbB,btRigidBodyData*);
 		dof6Data->m_typeConstraintData.m_name = 0;//tbd
 		SET_INT_VALUE(n,&dof6Data->m_typeConstraintData,m_objectType);
 		SET_INT_VALUE(n,&dof6Data->m_typeConstraintData,m_userConstraintType);
@@ -372,7 +372,7 @@ void btBulletXmlWorldImporter::deSerializeRigidBodyFloatData(TiXmlNode* pParent)
 	int ptr;
 	btAssert(get_int_attribute_by_name(pParent->ToElement(),"pointer",&ptr));
 
-	btRigidBodyFloatData* rbData = (btRigidBodyFloatData*)btAlignedAlloc(sizeof(btRigidBodyFloatData),16);
+	btRigidBodyData* rbData = (btRigidBodyData*)btAlignedAlloc(sizeof(btRigidBodyData),16);
 	
 	TiXmlNode* n = pParent->FirstChild("m_collisionObjectData");
 
@@ -485,13 +485,13 @@ void	btBulletXmlWorldImporter::fixupConstraintData(btTypedConstraintData* tcd)
 {
 	if (tcd->m_rbA)
 	{
-		btRigidBodyFloatData** ptrptr = (btRigidBodyFloatData**)m_pointerLookup.find((int)tcd->m_rbA);
+		btRigidBodyData** ptrptr = (btRigidBodyData**)m_pointerLookup.find((int)tcd->m_rbA);
 		btAssert(ptrptr);
 		tcd->m_rbA = ptrptr? *ptrptr : 0;
 	}
 	if (tcd->m_rbB)
 	{
-		btRigidBodyFloatData** ptrptr = (btRigidBodyFloatData**)m_pointerLookup.find((int)tcd->m_rbB);
+		btRigidBodyData** ptrptr = (btRigidBodyData**)m_pointerLookup.find((int)tcd->m_rbB);
 		btAssert(ptrptr);
 		tcd->m_rbB = ptrptr? *ptrptr : 0;
 	}
@@ -636,7 +636,7 @@ void btBulletXmlWorldImporter::auto_serialize_root_level_children(TiXmlNode* pPa
 	///now fixup pointers
 	for (int i=0;i<m_rigidBodyData.size();i++)
 	{
-		btRigidBodyFloatData* rbData = m_rigidBodyData[i];
+		btRigidBodyData* rbData = m_rigidBodyData[i];
 		int hashKey = (int)rbData->m_collisionObjectData.m_collisionShape;
 		void** ptrptr = m_pointerLookup.find(hashKey);
 		btAssert(ptrptr);
@@ -684,7 +684,11 @@ void btBulletXmlWorldImporter::auto_serialize_root_level_children(TiXmlNode* pPa
 
 	for (int i=0;i<m_rigidBodyData.size();i++)
 	{
-		convertRigidBody(m_rigidBodyData[i]);
+#ifdef BT_USE_DOUBLE_PRECISION
+		convertRigidBodyDouble(m_rigidBodyData[i]);
+#else
+		convertRigidBodyFloat(m_rigidBodyData[i]);
+#endif
 	}
 
 	for (int i=0;i<m_constraintData.size();i++)
@@ -745,18 +749,21 @@ bool btBulletXmlWorldImporter::loadFile(const char* fileName)
 	bool loadOkay = doc.LoadFile();
 	//dump_to_stdout(&doc,0);
 	
-	int fileVersion=-1;
 
-	if (get_int_attribute_by_name(doc.FirstChildElement()->ToElement(),"version", &m_fileVersion))
+	if (loadOkay)
 	{
-		if (m_fileVersion==281)
+		if (get_int_attribute_by_name(doc.FirstChildElement()->ToElement(),"version", &m_fileVersion))
 		{
-			int itemcount;
-			assert(get_int_attribute_by_name(doc.FirstChildElement()->ToElement(),"itemcount", &itemcount));
-
-			auto_serialize(&doc);
+			if (m_fileVersion==281)
+			{
+				m_fileOk = true;
+				int itemcount;
+				assert(get_int_attribute_by_name(doc.FirstChildElement()->ToElement(),"itemcount", &itemcount));
 
+				auto_serialize(&doc);
+				return m_fileOk;
 
+			}
 		}
 	}
 	return false;
diff --git a/Extras/Serialize/BulletXmlWorldImporter/btBulletXmlWorldImporter.h b/Extras/Serialize/BulletXmlWorldImporter/btBulletXmlWorldImporter.h
index 4e6390c60..74479cf8a 100644
--- a/Extras/Serialize/BulletXmlWorldImporter/btBulletXmlWorldImporter.h
+++ b/Extras/Serialize/BulletXmlWorldImporter/btBulletXmlWorldImporter.h
@@ -16,11 +16,19 @@ subject to the following restrictions:
 #ifndef BT_BULLET_XML_WORLD_IMPORTER_H
 #define BT_BULLET_XML_WORLD_IMPORTER_H
 
+#include "LinearMath/btScalar.h"
+
 class btDynamicsWorld;
 class TiXmlNode;
 struct btConvexInternalShapeData;
 struct btCollisionShapeData;
+#ifdef BT_USE_DOUBLE_PRECISION
+struct btRigidBodyDoubleData;
+#define btRigidBodyData btRigidBodyDoubleData
+#else
 struct btRigidBodyFloatData;
+#define btRigidBodyData btRigidBodyFloatData
+#endif//BT_USE_DOUBLE_PRECISION
 struct btTypedConstraintData;
 struct btCompoundShapeChildData;
 
@@ -33,10 +41,11 @@ class btBulletXmlWorldImporter : public btWorldImporter
 protected:
 	btAlignedObjectArray<btCollisionShapeData*>			m_collisionShapeData;
 	btAlignedObjectArray<btCompoundShapeChildData*>		m_compoundShapeChildData;
-	btAlignedObjectArray<btRigidBodyFloatData*>			m_rigidBodyData;
+	btAlignedObjectArray<btRigidBodyData*>				m_rigidBodyData;
 	btAlignedObjectArray<btTypedConstraintData*>		m_constraintData;
 	btHashMap<btHashInt,void*>							m_pointerLookup;
 	int													m_fileVersion;
+	bool												m_fileOk;
 
 	void auto_serialize_root_level_children(TiXmlNode* pParent);
 	void auto_serialize(TiXmlNode* pParent);
diff --git a/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h b/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
index 431f0b6e8..c07e9bbd8 100644
--- a/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
+++ b/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
@@ -87,6 +87,7 @@ struct btContactSolverInfo : public btContactSolverInfoData
 		m_warmstartingFactor=btScalar(0.85);
 		//m_solverMode =  SOLVER_USE_WARMSTARTING |  SOLVER_SIMD | SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION|SOLVER_USE_2_FRICTION_DIRECTIONS|SOLVER_ENABLE_FRICTION_DIRECTION_CACHING;// | SOLVER_RANDMIZE_ORDER;
 		m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD;// | SOLVER_RANDMIZE_ORDER;
+		m_restingContactRestitutionThreshold = 2;//unused as of 2.81
 		m_minimumSolverBatchSize = 128; //try to combine islands until the amount of constraints reaches this limit
 		m_maxGyroscopicForce = 100.f; ///only used to clamp forces for bodies that have their BT_ENABLE_GYROPSCOPIC_FORCE flag set (using btRigidBody::setFlag)
 		m_singleAxisRollingFrictionThreshold = 1e30f;///if the velocity is above this threshold, it will use a single constraint row (axis), otherwise 3 rows.
diff --git a/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp b/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
index bd6c74b28..58f83b9eb 100644
--- a/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
+++ b/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
@@ -1359,11 +1359,65 @@ void	btDiscreteDynamicsWorld::serializeRigidBodies(btSerializer* serializer)
 }
 
 
+
+
+void	btDiscreteDynamicsWorld::serializeDynamicsWorldInfo(btSerializer* serializer)
+{
+#ifdef BT_USE_DOUBLE_PRECISION
+		int len = sizeof(btDynamicsWorldDoubleData);
+		btChunk* chunk = serializer->allocate(len,1);
+		btDynamicsWorldDoubleData* worldInfo = (btDynamicsWorldDoubleData*)chunk->m_oldPtr;
+#else//BT_USE_DOUBLE_PRECISION
+		int len = sizeof(btDynamicsWorldFloatData);
+		btChunk* chunk = serializer->allocate(len,1);
+		btDynamicsWorldFloatData* worldInfo = (btDynamicsWorldFloatData*)chunk->m_oldPtr;
+#endif//BT_USE_DOUBLE_PRECISION
+
+		memset(worldInfo ,0x00,len);
+
+		m_gravity.serialize(worldInfo->m_gravity);
+		worldInfo->m_solverInfo.m_tau = getSolverInfo().m_tau;
+		worldInfo->m_solverInfo.m_damping = getSolverInfo().m_damping;
+		worldInfo->m_solverInfo.m_friction = getSolverInfo().m_friction;
+		worldInfo->m_solverInfo.m_timeStep = getSolverInfo().m_timeStep;
+
+		worldInfo->m_solverInfo.m_restitution = getSolverInfo().m_restitution;
+		worldInfo->m_solverInfo.m_maxErrorReduction = getSolverInfo().m_maxErrorReduction;
+		worldInfo->m_solverInfo.m_sor = getSolverInfo().m_sor;
+		worldInfo->m_solverInfo.m_erp = getSolverInfo().m_erp;
+
+		worldInfo->m_solverInfo.m_erp2 = getSolverInfo().m_erp2;
+		worldInfo->m_solverInfo.m_globalCfm = getSolverInfo().m_globalCfm;
+		worldInfo->m_solverInfo.m_splitImpulsePenetrationThreshold = getSolverInfo().m_splitImpulsePenetrationThreshold;
+		worldInfo->m_solverInfo.m_splitImpulseTurnErp = getSolverInfo().m_splitImpulseTurnErp;
+		
+		worldInfo->m_solverInfo.m_linearSlop = getSolverInfo().m_linearSlop;
+		worldInfo->m_solverInfo.m_warmstartingFactor = getSolverInfo().m_warmstartingFactor;
+		worldInfo->m_solverInfo.m_maxGyroscopicForce = getSolverInfo().m_maxGyroscopicForce;
+		worldInfo->m_solverInfo.m_singleAxisRollingFrictionThreshold = getSolverInfo().m_singleAxisRollingFrictionThreshold;
+		
+		worldInfo->m_solverInfo.m_numIterations = getSolverInfo().m_numIterations;
+		worldInfo->m_solverInfo.m_solverMode = getSolverInfo().m_solverMode;
+		worldInfo->m_solverInfo.m_restingContactRestitutionThreshold = getSolverInfo().m_restingContactRestitutionThreshold;
+		worldInfo->m_solverInfo.m_minimumSolverBatchSize = getSolverInfo().m_minimumSolverBatchSize;
+		
+		worldInfo->m_solverInfo.m_splitImpulse = getSolverInfo().m_splitImpulse;
+	
+#ifdef BT_USE_DOUBLE_PRECISION
+		const char* structType = "btDynamicsWorldDoubleData";
+#else//BT_USE_DOUBLE_PRECISION
+		const char* structType = "btDynamicsWorldFloatData";
+#endif//BT_USE_DOUBLE_PRECISION
+		serializer->finalizeChunk(chunk,structType,BT_DYNAMICSWORLD_CODE,worldInfo);
+}
+
 void	btDiscreteDynamicsWorld::serialize(btSerializer* serializer)
 {
 
 	serializer->startSerialization();
 
+	serializeDynamicsWorldInfo(serializer);
+
 	serializeRigidBodies(serializer);
 
 	serializeCollisionObjects(serializer);
diff --git a/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h b/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
index 3fa49e78f..9875a915b 100644
--- a/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
+++ b/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h
@@ -87,6 +87,8 @@ protected:
 
 	void	serializeRigidBodies(btSerializer* serializer);
 
+	void	serializeDynamicsWorldInfo(btSerializer* serializer);
+
 public:
 
 
diff --git a/src/BulletSoftBody/btSoftRigidDynamicsWorld.cpp b/src/BulletSoftBody/btSoftRigidDynamicsWorld.cpp
index 8f4be231c..5f3593545 100644
--- a/src/BulletSoftBody/btSoftRigidDynamicsWorld.cpp
+++ b/src/BulletSoftBody/btSoftRigidDynamicsWorld.cpp
@@ -353,6 +353,8 @@ void	btSoftRigidDynamicsWorld::serialize(btSerializer* serializer)
 
 	serializer->startSerialization();
 
+	serializeDynamicsWorldInfo( serializer);
+
 	serializeSoftBodies(serializer);
 
 	serializeRigidBodies(serializer);
diff --git a/src/LinearMath/btSerializer.h b/src/LinearMath/btSerializer.h
index 37c92603b..c5bc96b78 100644
--- a/src/LinearMath/btSerializer.h
+++ b/src/LinearMath/btSerializer.h
@@ -122,6 +122,7 @@ public:
 #define BT_ARRAY_CODE			BT_MAKE_ID('A','R','A','Y')
 #define BT_SBMATERIAL_CODE		BT_MAKE_ID('S','B','M','T')
 #define BT_SBNODE_CODE			BT_MAKE_ID('S','B','N','D')
+#define BT_DYNAMICSWORLD_CODE	BT_MAKE_ID('D','W','L','D')
 #define BT_DNA_CODE				BT_MAKE_ID('D','N','A','1')