Add f64 testbed

examples3d-f64/debug_serialized3.rs

@@ -0,0 +1,72 @@
+use rapier3d::prelude::*;
+use rapier_testbed3d::Testbed;
+
+#[derive(serde::Deserialize)]
+struct State {
+    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 ccd_solver: CCDSolver,
+}
+
+pub fn init_world(testbed: &mut Testbed) {
+    /*
+     * Set up the testbed.
+     */
+    let bytes = std::fs::read("state.bin").unwrap();
+    let mut state: State = bincode::deserialize(&bytes).unwrap();
+
+    for body in state.bodies.iter_mut() {
+        dbg!(body.1.position());
+        dbg!(body.1.is_ccd_enabled());
+        dbg!(body.1.is_sleeping());
+        // dbg!(body.1);
+        body.1.clear_forces(false);
+    }
+
+    let mut to_remove = vec![];
+    for (_, co) in state.colliders.iter() {
+        if co.shape().as_ball().is_none() {
+            if let Some(parent) = co.parent() {
+                let body = &state.bodies[parent];
+                if body.is_dynamic() {
+                    to_remove.push(parent);
+                }
+            }
+        }
+    }
+
+    // for h in to_remove {
+    //     state.bodies.remove(
+    //         h,
+    //         &mut state.islands,
+    //         &mut state.colliders,
+    //         &mut state.impulse_joints,
+    //         &mut state.multibody_joints,
+    //     );
+    // }
+
+    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.ccd_solver = state.ccd_solver;
+    // testbed.harness_mut().physics.integration_parameters.erp = 0.0;
+    // testbed
+    //     .harness_mut()
+    //     .physics
+    //     .integration_parameters
+    //     .delassus_inv_factor = 1.0;
+
+    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]);
+}