Pause and resume a simulation with warm start

[Linwei He]

Hi,

I am trying to write a function that can pause the simulation, and save the state variables to a file, which would allow the simulation to be terminated and then resumed using a warm start mechanism. This function can help create "recovery points" during a simulation.

Currently I am saving state variables covering position, rotation, velocity and acceleration data (for sake of simplicity, I only used gravity load, so no need to save external loads). However, the paused & resumed simulation process is slightly different from a continuous one. I wonder if I have missed some data or settings, could you please help me out?

Thanks!