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refactor testbed to use harness

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This commit is contained in:
rezural
2020-12-24 17:58:37 +11:00
parent fd3b4801b6
commit c56ebcc663
5 changed files with 147 additions and 209 deletions
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39
src_testbed/harness/mod.rs
View File

@@ -7,24 +7,35 @@ use rapier::pipeline::{ChannelEventCollector, PhysicsPipeline, QueryPipeline};
pub mod plugin;
pub struct HarnessState {
pub struct RunState {
#[cfg(feature = "parallel")]
pub thread_pool: rapier::rayon::ThreadPool,
pub timestep_id: usize,
pub time: f32,
}
impl RunState {
pub fn new() -> Self {
Self {
#[cfg(feature = "parallel")]
thread_pool: rapier::rayon::ThreadPool,
timestep_id: 0,
time: 0.0
}
}
}
pub struct Harness {
physics: PhysicsState,
pub physics: PhysicsState,
max_steps: usize,
callbacks: Callbacks,
plugins: Vec<Box<dyn HarnessPlugin>>,
time: f32,
events: PhysicsEvents,
event_handler: ChannelEventCollector,
pub state: HarnessState,
pub state: RunState,
}
type Callbacks = Vec<Box<dyn FnMut(&mut PhysicsState, &PhysicsEvents, &HarnessState, f32)>>;
type Callbacks = Vec<Box<dyn FnMut(&mut PhysicsState, &PhysicsEvents, &RunState, f32)>>;
#[allow(dead_code)]
impl Harness {
@@ -46,18 +57,13 @@ impl Harness {
proximity_events: proximity_channel.1,
};
let physics = PhysicsState::new();
let state = HarnessState {
#[cfg(feature = "parallel")]
thread_pool,
timestep_id: 0,
};
let state = RunState::new();
Self {
physics,
max_steps: 1000,
callbacks: Vec::new(),
plugins: Vec::new(),
time: 0.0,
events,
event_handler,
state,
@@ -101,7 +107,6 @@ impl Harness {
self.physics.joints = joints;
self.physics.broad_phase = BroadPhase::new();
self.physics.narrow_phase = NarrowPhase::new();
self.time = 0.0;
self.state.timestep_id = 0;
self.physics.query_pipeline = QueryPipeline::new();
self.physics.pipeline = PhysicsPipeline::new();
@@ -113,7 +118,7 @@ impl Harness {
}
pub fn add_callback<
F: FnMut(&mut PhysicsState, &PhysicsEvents, &HarnessState, f32) + 'static,
F: FnMut(&mut PhysicsState, &PhysicsEvents, &RunState, f32) + 'static,
>(
&mut self,
callback: F,
@@ -165,22 +170,22 @@ impl Harness {
}
for f in &mut self.callbacks {
f(&mut self.physics, &self.events, &self.state, self.time)
f(&mut self.physics, &self.events, &self.state, self.state.time)
}
for plugin in &mut self.plugins {
plugin.run_callbacks(&mut self.physics, &self.events, &self.state, self.time)
plugin.run_callbacks(&mut self.physics, &self.events, &self.state, self.state.time)
}
self.events.poll_all();
self.time += self.physics.integration_parameters.dt();
self.state.time += self.physics.integration_parameters.dt();
self.state.timestep_id += 1;
}
pub fn run(&mut self) {
for _ in 0..self.max_steps {
self.step();
self.state.timestep_id += 1;
}
}
}

4
src_testbed/harness/plugin.rs
View File

@@ -1,4 +1,4 @@
use crate::harness::HarnessState;
use crate::harness::RunState;
use crate::physics::PhysicsEvents;
use crate::PhysicsState;
@@ -7,7 +7,7 @@ pub trait HarnessPlugin {
&mut self,
physics: &mut PhysicsState,
events: &PhysicsEvents,
harness_state: &HarnessState,
harness_state: &RunState,
t: f32,
);
fn step(&mut self, physics: &mut PhysicsState);

301
src_testbed/testbed.rs
View File

@@ -33,6 +33,7 @@ use crate::box2d_backend::Box2dWorld;
use crate::nphysics_backend::NPhysicsWorld;
#[cfg(all(feature = "dim3", feature = "other-backends"))]
use crate::physx_backend::PhysxWorld;
use crate::harness::{Harness, RunState};
const RAPIER_BACKEND: usize = 0;
const NPHYSICS_BACKEND: usize = 1;
@@ -116,14 +117,13 @@ pub struct TestbedState {
pub physx_use_two_friction_directions: bool,
pub num_threads: usize,
pub snapshot: Option<PhysicsSnapshot>,
#[cfg(feature = "parallel")]
pub thread_pool: rapier::rayon::ThreadPool,
// #[cfg(feature = "parallel")]
// pub thread_pool: rapier::rayon::ThreadPool,
pub timestep_id: usize,
}
pub struct Testbed {
builders: Vec<(&'static str, fn(&mut Testbed))>,
physics: PhysicsState,
graphics: GraphicsManager,
nsteps: usize,
camera_locked: bool, // Used so that the camera can remain the same before and after we change backend or press the restart button.
@@ -138,6 +138,7 @@ pub struct Testbed {
event_handler: ChannelEventCollector,
ui: Option<TestbedUi>,
state: TestbedState,
harness: Harness,
#[cfg(all(feature = "dim2", feature = "other-backends"))]
box2d: Option<Box2dWorld>,
#[cfg(all(feature = "dim3", feature = "other-backends"))]
@@ -147,7 +148,7 @@ pub struct Testbed {
}
type Callbacks =
Vec<Box<dyn FnMut(&mut Window, &mut PhysicsState, &PhysicsEvents, &mut GraphicsManager, f32)>>;
Vec<Box<dyn FnMut(&mut Window, &mut PhysicsState, &PhysicsEvents, &mut GraphicsManager, &RunState)>>;
impl Testbed {
pub fn new_empty() -> Testbed {
@@ -201,6 +202,8 @@ impl Testbed {
thread_pool,
};
let harness = Harness::new_empty();
let contact_channel = crossbeam::channel::unbounded();
let proximity_channel = crossbeam::channel::unbounded();
let event_handler = ChannelEventCollector::new(proximity_channel.0, contact_channel.0);
@@ -208,11 +211,9 @@ impl Testbed {
contact_events: contact_channel.1,
proximity_events: proximity_channel.1,
};
let physics = PhysicsState::new();
Testbed {
builders: Vec::new(),
physics,
callbacks: Vec::new(),
plugins: Vec::new(),
graphics,
@@ -227,6 +228,7 @@ impl Testbed {
event_handler,
events,
state,
harness,
#[cfg(all(feature = "dim2", feature = "other-backends"))]
box2d: None,
#[cfg(all(feature = "dim3", feature = "other-backends"))]
@@ -238,7 +240,7 @@ impl Testbed {
pub fn new(bodies: RigidBodySet, colliders: ColliderSet, joints: JointSet) -> Self {
let mut res = Self::new_empty();
res.set_world(bodies, colliders, joints);
res.harness.set_world(bodies, colliders, joints);
res
}
@@ -269,11 +271,11 @@ impl Testbed {
}
pub fn integration_parameters_mut(&mut self) -> &mut IntegrationParameters {
&mut self.physics.integration_parameters
&mut self.harness.physics.integration_parameters
}
pub fn physics_state_mut(&mut self) -> &mut PhysicsState {
&mut self.physics
&mut self.harness.physics
}
pub fn set_world(&mut self, bodies: RigidBodySet, colliders: ColliderSet, joints: JointSet) {
@@ -287,32 +289,30 @@ impl Testbed {
joints: JointSet,
gravity: Vector<f32>,
) {
println!("Num bodies: {}", bodies.len());
println!("Num joints: {}", joints.len());
self.physics.gravity = gravity;
self.physics.bodies = bodies;
self.physics.colliders = colliders;
self.physics.joints = joints;
self.physics.broad_phase = BroadPhase::new();
self.physics.narrow_phase = NarrowPhase::new();
self.harness.set_world_with_gravity(bodies, colliders, joints, gravity);
self.state
.action_flags
.set(TestbedActionFlags::RESET_WORLD_GRAPHICS, true);
//FIXME: remove time & state.timestep_id if appropriate
self.time = 0.0;
self.state.timestep_id = 0;
self.state.highlighted_body = None;
self.physics.query_pipeline = QueryPipeline::new();
self.physics.pipeline = PhysicsPipeline::new();
self.physics.pipeline.counters.enable();
let physics = &self.harness.physics;
#[cfg(all(feature = "dim2", feature = "other-backends"))]
{
if self.state.selected_backend == BOX2D_BACKEND {
self.box2d = Some(Box2dWorld::from_rapier(
self.physics.gravity,
&self.physics.bodies,
&self.physics.colliders,
&self.physics.joints,
physics.gravity,
&physics.bodies,
&physics.colliders,
&physics.joints,
));
}
}
@@ -323,13 +323,13 @@ impl Testbed {
|| self.state.selected_backend == PHYSX_BACKEND_TWO_FRICTION_DIR
{
self.physx = Some(PhysxWorld::from_rapier(
self.physics.gravity,
&self.physics.integration_parameters,
&self.physics.bodies,
&self.physics.colliders,
&self.physics.joints,
physics.gravity,
&physics.integration_parameters,
&physics.bodies,
&physics.colliders,
&physics.joints,
self.state.selected_backend == PHYSX_BACKEND_TWO_FRICTION_DIR,
self.state.num_threads,
self.harness.state.num_threads,
));
}
}
@@ -338,10 +338,10 @@ impl Testbed {
{
if self.state.selected_backend == NPHYSICS_BACKEND {
self.nphysics = Some(NPhysicsWorld::from_rapier(
self.physics.gravity,
&self.physics.bodies,
&self.physics.colliders,
&self.physics.joints,
physics.gravity,
&physics.bodies,
&physics.colliders,
&physics.joints,
));
}
}
@@ -438,7 +438,7 @@ impl Testbed {
}
pub fn add_callback<
F: FnMut(&mut Window, &mut PhysicsState, &PhysicsEvents, &mut GraphicsManager, f32) + 'static,
F: FnMut(&mut Window, &mut PhysicsState, &PhysicsEvents, &mut GraphicsManager, &RunState) + 'static,
>(
&mut self,
callback: F,
@@ -484,11 +484,11 @@ impl Testbed {
&& (backend_id == PHYSX_BACKEND_PATCH_FRICTION
|| backend_id == PHYSX_BACKEND_TWO_FRICTION_DIR)
{
self.physics.integration_parameters.max_velocity_iterations = 1;
self.physics.integration_parameters.max_position_iterations = 4;
self.harness.physics.integration_parameters.max_velocity_iterations = 1;
self.harness.physics.integration_parameters.max_position_iterations = 4;
} else {
self.physics.integration_parameters.max_velocity_iterations = 4;
self.physics.integration_parameters.max_position_iterations = 1;
self.harness.physics.integration_parameters.max_velocity_iterations = 4;
self.harness.physics.integration_parameters.max_position_iterations = 1;
}
// Init world.
(builder.1)(&mut self);
@@ -498,55 +498,19 @@ impl Testbed {
{
// FIXME: code duplicated from self.step()
if self.state.selected_backend == RAPIER_BACKEND {
#[cfg(feature = "parallel")]
{
let physics = &mut self.physics;
let event_handler = &self.event_handler;
self.state.thread_pool.install(|| {
physics.pipeline.step(
&physics.gravity,
&physics.integration_parameters,
&mut physics.broad_phase,
&mut physics.narrow_phase,
&mut physics.bodies,
&mut physics.colliders,
&mut physics.joints,
None,
None,
event_handler,
);
});
}
#[cfg(not(feature = "parallel"))]
self.physics.pipeline.step(
&self.physics.gravity,
&self.physics.integration_parameters,
&mut self.physics.broad_phase,
&mut self.physics.narrow_phase,
&mut self.physics.bodies,
&mut self.physics.colliders,
&mut self.physics.joints,
None,
None,
&self.event_handler,
);
self.physics
.query_pipeline
.update(&self.physics.bodies, &self.physics.colliders);
self.harness.step();
}
#[cfg(all(feature = "dim2", feature = "other-backends"))]
{
if self.state.selected_backend == BOX2D_BACKEND {
self.box2d.as_mut().unwrap().step(
&mut self.physics.pipeline.counters,
&self.physics.integration_parameters,
&mut self.harness.physics.pipeline.counters,
&physics.integration_parameters,
);
self.box2d.as_mut().unwrap().sync(
&mut self.physics.bodies,
&mut self.physics.colliders,
&mut self.harness.physics.bodies,
&mut self.harness.physics.colliders,
);
}
}
@@ -558,12 +522,12 @@ impl Testbed {
{
// println!("Step");
self.physx.as_mut().unwrap().step(
&mut self.physics.pipeline.counters,
&self.physics.integration_parameters,
&mut self.harness.physics.pipeline.counters,
&physics.integration_parameters,
);
self.physx.as_mut().unwrap().sync(
&mut self.physics.bodies,
&mut self.physics.colliders,
&mut self.harness.physics.bodies,
&mut self.harness.physics.colliders,
);
}
}
@@ -572,12 +536,12 @@ impl Testbed {
{
if self.state.selected_backend == NPHYSICS_BACKEND {
self.nphysics.as_mut().unwrap().step(
&mut self.physics.pipeline.counters,
&self.physics.integration_parameters,
&mut self.harness.physics.pipeline.counters,
&physics.integration_parameters,
);
self.nphysics.as_mut().unwrap().sync(
&mut self.physics.bodies,
&mut self.physics.colliders,
&mut self.harness.physics.bodies,
&mut self.harness.physics.colliders,
);
}
}
@@ -585,7 +549,7 @@ impl Testbed {
// Skip the first update.
if k > 0 {
timings.push(self.physics.pipeline.counters.step_time.time());
timings.push(self.harness.physics.pipeline.counters.step_time.time());
}
}
results.push(timings);
@@ -639,8 +603,7 @@ impl Testbed {
.set(TestbedActionFlags::EXAMPLE_CHANGED, true),
WindowEvent::Key(Key::C, Action::Release, _) => {
// Delete 1 collider of 10% of the remaining dynamic bodies.
let mut colliders: Vec<_> = self
.physics
let mut colliders: Vec<_> = self.harness.physics
.bodies
.iter()
.filter(|e| e.1.is_dynamic())
@@ -651,14 +614,17 @@ impl Testbed {
let num_to_delete = (colliders.len() / 10).max(1);
for to_delete in &colliders[..num_to_delete] {
self.physics
self
.harness
.physics
.colliders
.remove(to_delete[0], &mut self.physics.bodies, true);
.remove(to_delete[0], &mut self.harness.physics.bodies, true);
}
}
WindowEvent::Key(Key::D, Action::Release, _) => {
// Delete 10% of the remaining dynamic bodies.
let dynamic_bodies: Vec<_> = self
.harness
.physics
.bodies
.iter()
@@ -667,21 +633,23 @@ impl Testbed {
.collect();
let num_to_delete = (dynamic_bodies.len() / 10).max(1);
for to_delete in &dynamic_bodies[..num_to_delete] {
self.physics.bodies.remove(
self.harness.physics.bodies.remove(
*to_delete,
&mut self.physics.colliders,
&mut self.physics.joints,
&mut self.harness.physics.colliders,
&mut self.harness.physics.joints,
);
}
}
WindowEvent::Key(Key::J, Action::Release, _) => {
// Delete 10% of the remaining joints.
let joints: Vec<_> = self.physics.joints.iter().map(|e| e.0).collect();
let joints: Vec<_> = self.harness.physics.joints.iter().map(|e| e.0).collect();
let num_to_delete = (joints.len() / 10).max(1);
for to_delete in &joints[..num_to_delete] {
self.physics
self
.harness
.physics
.joints
.remove(*to_delete, &mut self.physics.bodies, true);
.remove(*to_delete, &mut self.harness.physics.bodies, true);
}
}
WindowEvent::CursorPos(x, y, _) => {
@@ -1028,15 +996,16 @@ impl Testbed {
.camera()
.unproject(&self.cursor_pos, &na::convert(size));
let ray = Ray::new(pos, dir);
let hit = self.physics.query_pipeline.cast_ray(
&self.physics.colliders,
let physics = &self.harness.physics;
let hit = physics.query_pipeline.cast_ray(
&physics.colliders,
&ray,
f32::MAX,
InteractionGroups::all(),
);
if let Some((_, collider, _)) = hit {
if self.physics.bodies[collider.parent()].is_dynamic() {
if physics.bodies[collider.parent()].is_dynamic() {
self.state.highlighted_body = Some(collider.parent());
for node in self.graphics.body_nodes_mut(collider.parent()).unwrap() {
node.select()
@@ -1075,11 +1044,13 @@ impl State for Testbed {
if let Some(ui) = &mut self.ui {
ui.update(
window,
&mut self.physics.integration_parameters,
&mut self.harness.physics.integration_parameters,
&mut self.state,
);
}
// let physics = &self.harness.physics;
// Handle UI actions.
{
let backend_changed = self
@@ -1123,7 +1094,7 @@ impl State for Testbed {
self.clear(window);
if self.state.selected_example != prev_example {
self.physics.integration_parameters = IntegrationParameters::default();
self.harness.physics.integration_parameters = IntegrationParameters::default();
}
self.builders[self.state.selected_example].1(self);
@@ -1141,11 +1112,11 @@ impl State for Testbed {
.set(TestbedActionFlags::TAKE_SNAPSHOT, false);
self.state.snapshot = PhysicsSnapshot::new(
self.state.timestep_id,
&self.physics.broad_phase,
&self.physics.narrow_phase,
&self.physics.bodies,
&self.physics.colliders,
&self.physics.joints,
&self.harness.physics.broad_phase,
&self.harness.physics.narrow_phase,
&self.harness.physics.bodies,
&self.harness.physics.colliders,
&self.harness.physics.joints,
)
.ok();
@@ -1154,6 +1125,7 @@ impl State for Testbed {
}
}
if self
.state
.action_flags
@@ -1172,8 +1144,8 @@ impl State for Testbed {
}
self.set_world(w.3, w.4, w.5);
self.physics.broad_phase = w.1;
self.physics.narrow_phase = w.2;
self.harness.physics.broad_phase = w.1;
self.harness.physics.narrow_phase = w.2;
self.state.timestep_id = w.0;
}
}
@@ -1187,12 +1159,12 @@ impl State for Testbed {
self.state
.action_flags
.set(TestbedActionFlags::RESET_WORLD_GRAPHICS, false);
for (handle, _) in self.physics.bodies.iter() {
for (handle, _) in self.harness.physics.bodies.iter() {
self.graphics.add(
window,
handle,
&self.physics.bodies,
&self.physics.colliders,
&self.harness.physics.bodies,
&self.harness.physics.colliders,
);
}
@@ -1207,7 +1179,7 @@ impl State for Testbed {
!= self.state.flags.contains(TestbedStateFlags::WIREFRAME)
{
self.graphics.toggle_wireframe_mode(
&self.physics.colliders,
&self.harness.physics.colliders,
self.state.flags.contains(TestbedStateFlags::WIREFRAME),
)
}
@@ -1216,11 +1188,11 @@ impl State for Testbed {
!= self.state.flags.contains(TestbedStateFlags::SLEEP)
{
if self.state.flags.contains(TestbedStateFlags::SLEEP) {
for (_, mut body) in self.physics.bodies.iter_mut() {
for (_, mut body) in self.harness.physics.bodies.iter_mut() {
body.activation.threshold = ActivationStatus::default_threshold();
}
} else {
for (_, mut body) in self.physics.bodies.iter_mut() {
for (_, mut body) in self.harness.physics.bodies.iter_mut() {
body.wake_up(true);
body.activation.threshold = -1.0;
}
@@ -1233,7 +1205,7 @@ impl State for Testbed {
.contains(TestbedStateFlags::SUB_STEPPING)
!= self.state.flags.contains(TestbedStateFlags::SUB_STEPPING)
{
self.physics.integration_parameters.return_after_ccd_substep =
self.harness.physics.integration_parameters.return_after_ccd_substep =
self.state.flags.contains(TestbedStateFlags::SUB_STEPPING);
}
@@ -1285,46 +1257,11 @@ impl State for Testbed {
for _ in 0..self.nsteps {
self.state.timestep_id += 1;
if self.state.selected_backend == RAPIER_BACKEND {
#[cfg(feature = "parallel")]
{
let physics = &mut self.physics;
let event_handler = &self.event_handler;
self.state.thread_pool.install(|| {
physics.pipeline.step(
&physics.gravity,
&physics.integration_parameters,
&mut physics.broad_phase,
&mut physics.narrow_phase,
&mut physics.bodies,
&mut physics.colliders,
&mut physics.joints,
None,
None,
event_handler,
);
});
}
#[cfg(not(feature = "parallel"))]
self.physics.pipeline.step(
&self.physics.gravity,
&self.physics.integration_parameters,
&mut self.physics.broad_phase,
&mut self.physics.narrow_phase,
&mut self.physics.bodies,
&mut self.physics.colliders,
&mut self.physics.joints,
None,
None,
&self.event_handler,
);
self.physics
.query_pipeline
.update(&self.physics.bodies, &self.physics.colliders);
self.harness.step();
//FIXME: this should probably be delegated to harness plugins
for plugin in &mut self.plugins {
plugin.step(&mut self.physics)
plugin.step(&mut self.harness.physics)
}
}
@@ -1332,13 +1269,13 @@ impl State for Testbed {
{
if self.state.selected_backend == BOX2D_BACKEND {
self.box2d.as_mut().unwrap().step(
&mut self.physics.pipeline.counters,
&self.physics.integration_parameters,
&mut physics.pipeline.counters,
&physics.integration_parameters,
);
self.box2d
.as_mut()
.unwrap()
.sync(&mut self.physics.bodies, &mut self.physics.colliders);
.sync(&mut physics.bodies, &mut physics.colliders);
}
}
@@ -1349,13 +1286,13 @@ impl State for Testbed {
{
// println!("Step");
self.physx.as_mut().unwrap().step(
&mut self.physics.pipeline.counters,
&self.physics.integration_parameters,
&mut physics.pipeline.counters,
&physics.integration_parameters,
);
self.physx
.as_mut()
.unwrap()
.sync(&mut self.physics.bodies, &mut self.physics.colliders);
.sync(&mut physics.bodies, &mut physics.colliders);
}
}
@@ -1363,28 +1300,21 @@ impl State for Testbed {
{
if self.state.selected_backend == NPHYSICS_BACKEND {
self.nphysics.as_mut().unwrap().step(
&mut self.physics.pipeline.counters,
&self.physics.integration_parameters,
&mut physics.pipeline.counters,
&physics.integration_parameters,
);
self.nphysics
.as_mut()
.unwrap()
.sync(&mut self.physics.bodies, &mut self.physics.colliders);
.sync(&mut physics.bodies, &mut physics.colliders);
}
}
for f in &mut self.callbacks {
f(
window,
&mut self.physics,
&self.events,
&mut self.graphics,
self.time,
)
}
// FIXME: should this be handled by harness plugins?
for plugin in &mut self.plugins {
plugin.run_callbacks(window, &mut self.physics, self.time)
{
plugin.run_callbacks(window, &mut self.harness.physics, self.time);
}
}
self.events.poll_all();
@@ -1396,20 +1326,22 @@ impl State for Testbed {
// #[cfg(feature = "log")]
// debug!("{}", self.world.counters);
// }
self.time += self.physics.integration_parameters.dt();
self.time += self.harness.physics.integration_parameters.dt();
}
}
self.highlight_hovered_body(window);
// FIXME: this is causing errors, but should be put back in some how
// self.highlight_hovered_body(window);
let physics = &self.harness.physics;
self.graphics
.draw(&self.physics.bodies, &self.physics.colliders, window);
.draw(&physics.bodies, &physics.colliders, window);
for plugin in &mut self.plugins {
plugin.draw();
}
if self.state.flags.contains(TestbedStateFlags::CONTACT_POINTS) {
draw_contacts(window, &self.physics.narrow_phase, &self.physics.colliders);
draw_contacts(window, &physics.narrow_phase, &physics.colliders);
}
if self.state.running == RunMode::Step {
@@ -1421,7 +1353,7 @@ impl State for Testbed {
}
let color = Point3::new(0.0, 0.0, 0.0);
let counters = self.physics.pipeline.counters;
let counters = physics.pipeline.counters;
let mut profile = String::new();
if self.state.flags.contains(TestbedStateFlags::PROFILE) {
@@ -1472,11 +1404,12 @@ CCD: {:.2}ms
if self.state.flags.contains(TestbedStateFlags::DEBUG) {
let t = instant::now();
let bf = bincode::serialize(&self.physics.broad_phase).unwrap();
let nf = bincode::serialize(&self.physics.narrow_phase).unwrap();
let bs = bincode::serialize(&self.physics.bodies).unwrap();
let cs = bincode::serialize(&self.physics.colliders).unwrap();
let js = bincode::serialize(&self.physics.joints).unwrap();
let physics = &self.harness.physics;
let bf = bincode::serialize(&physics.broad_phase).unwrap();
let nf = bincode::serialize(&physics.narrow_phase).unwrap();
let bs = bincode::serialize(&physics.bodies).unwrap();
let cs = bincode::serialize(&physics.colliders).unwrap();
let js = bincode::serialize(&physics.joints).unwrap();
let serialization_time = instant::now() - t;
let hash_bf = md5::compute(&bf);
let hash_nf = md5::compute(&nf);