Start to Load World State

This patch starts to load world state for debugging. The next step is to make sure that deserialization exactly matches the format of world.takeSnapshot().

examples3d/Cargo.toml

@@ -18,6 +18,8 @@ getrandom = { version = "0.2", features = [ "js" ] }
 Inflector  = "0.11"
 wasm-bindgen = "0.2"
 obj-rs = { version =  "0.6", default-features = false }
+serde = "1"
+bincode = "1"
 
 [dependencies.rapier_testbed3d]
 path = "../crates/rapier_testbed3d"

examples3d/all_examples3.rs

@@ -25,6 +25,7 @@ mod debug_friction3;
 mod debug_infinite_fall3;
 mod debug_prismatic3;
 mod debug_rollback3;
+mod debug_serialized3;
 mod debug_shape_modification3;
 mod debug_triangle3;
 mod debug_trimesh3;
@@ -122,6 +123,10 @@ pub fn main() {
             "(Debug) shape modification",
             debug_shape_modification3::init_world,
         ),
+        (
+            "A serialized",
+            debug_serialized3::init_world,
+        ),
     ];
 
     // Lexicographic sort, with stress tests moved at the end of the list.

examples3d/debug_serialized3.rs

@@ -0,0 +1,38 @@
+use rapier3d::prelude::*;
+use rapier_testbed3d::Testbed;
+
+#[derive(serde::Deserialize)] 
+struct PhysicsState {
+    pub gravity: Vector<f32>,
+    pub integration_parameters: IntegrationParameters,
+    pub islands: IslandManager,
+    pub broad_phase: BroadPhase,
+    pub narrow_phase: NarrowPhase,
+    pub bodies: RigidBodySet,
+    pub colliders: ColliderSet,
+    pub impulse_joints: ImpulseJointSet,
+    pub multibody_joints: MultibodyJointSet,
+}
+
+pub fn init_world(testbed: &mut Testbed) {
+    /*
+     * Set up the testbed.
+     */
+    let bytes = std::fs::read("state.bin").unwrap();
+    let mut state: PhysicsState = bincode::deserialize(&bytes).unwrap();
+
+    testbed.set_world(
+        state.bodies,
+        state.colliders,
+        state.impulse_joints,
+        state.multibody_joints,
+    );
+    testbed.harness_mut().physics.islands = state.islands;
+    testbed.harness_mut().physics.broad_phase = state.broad_phase;
+    testbed.harness_mut().physics.narrow_phase = state.narrow_phase;
+    testbed.harness_mut().physics.integration_parameters = state.integration_parameters;
+    testbed.harness_mut().physics.gravity = state.gravity;
+
+    testbed.set_graphics_shift(vector![-541.0, -6377257.0, -61.0]);
+    testbed.look_at(point![10.0, 10.0, 10.0], point![0.0, 0.0, 0.0]);
+}