Make the query pipeline serializable.

src/dynamics/integration_parameters.rs

@@ -2,7 +2,7 @@
 #[derive(Clone)]
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 pub struct IntegrationParameters {
-    /// The timestep (default: `1.0 / 60.0`)
+    /// The timestep length (default: `1.0 / 60.0`)
     dt: f32,
     /// The inverse of `dt`.
     inv_dt: f32,

src/pipeline/query_pipeline.rs

@@ -6,6 +6,7 @@ use crate::math::{Point, Vector};
 use ncollide::bounding_volume::BoundingVolume;
 
 /// A pipeline for performing queries on all the colliders of a scene.
+#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 pub struct QueryPipeline {
     quadtree: WQuadtree,
     tree_built: bool,
@@ -65,7 +66,7 @@ impl QueryPipeline {
         // let t0 = instant::now();
         let inter = self.quadtree.cast_ray(ray, max_toi);
         // println!(
-        //     "Found {} interefrences in time {}.",
+        //     "Found {} interferences in time {}.",
         //     inter.len(),
         //     instant::now() - t0
         // );

src_testbed/physx_backend.rs

@@ -261,10 +261,10 @@ impl PhysxWorld {
     fn setup_joints(&mut self, joints: &JointSet) {
         unsafe {
             for joint in joints.iter() {
-                let actor1 = self.rapier2physx[&joint.body1];
-                let actor2 = self.rapier2physx[&joint.body2];
+                let actor1 = self.rapier2physx[&joint.1.body1];
+                let actor2 = self.rapier2physx[&joint.1.body2];
 
-                match &joint.params {
+                match &joint.1.params {
                     JointParams::BallJoint(params) => {
                         let frame1 = physx::transform::gl_to_px_tf(
                             Isometry3::new(params.local_anchor1.coords, na::zero()).into_glam(),