Module simulation_io 

Physics simulation I/O formats.

Provides writers and readers for full physics scenes (bodies, joints, materials), multi-body trajectories, contact force logs, energy logs, simulation checkpoints, VTK time-series output, and XDMF wrappers.

Structs

BodyDesc

A rigid body descriptor for scene serialization.

CheckpointReader

Read a checkpoint and restore simulation state.

CheckpointWriter

A simulation checkpoint: full state including bodies, constraints, and broadphase.

ContactForceLog

Log of contact forces at each timestep.

ContactForceRecord

A single contact force record.

EnergyEntry

Energy log entry for one timestep.

EnergyLog

Log kinetic/potential/total energy, angular momentum, linear momentum.

JointDesc

A joint descriptor.

MaterialDesc

A physics material descriptor.

ParaviewXdmf

XDMF wrapper for HDF5-based trajectory (positions as heavy data).

PhysicsSceneReader

Read a physics scene from JSON, validate it, and reconstruct a body list.

PhysicsSceneWriter

Write a full physics scene (bodies, joints, materials) to JSON or binary.

TrajectoryFrame

A single trajectory frame: positions, velocities, quaternions.

TrajectoryReader

Reader for binary trajectory files produced by TrajectoryWriter.

TrajectoryWriter

Writer for multi-body trajectory files: positions, velocities, quaternions per timestep.

VtkTrajectory

Write a time-series VTK output: per-step VTU files + a PVD collection.

Functions

encode_quaternion_f32

Encode a quaternion (w, x, y, z) as four f32 values in little-endian bytes.

pack_float3_array

Pack a slice of [f64; 3] vectors into an interleaved f32 little-endian byte buffer.

read_xdmf_timesteps

Parse a simple XDMF file and return a list of (time, data_file) pairs.

write_pvd_collection

Write a ParaView PVD collection XML file pointing to per-step VTU files.