Merge pull request #282 from dimforge/critical-damping

Improve the CFM implementation

1 files changed, 36 insertions, 0 deletions

diff --git a/examples3d-f64/debug_serialized3.rs b/examples3d-f64/debug_serialized3.rs
new file mode 100644
index 0000000..e94d7ef
--- /dev/null
+++ b/examples3d-f64/debug_serialized3.rs
@@ -0,0 +1,36 @@
+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();
+
+    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.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]);
+}