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Jondolf
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Addresses dimforge/rapier#999 (review).
Currently, deserializing a custom workspace returns an error, as the type is unknown to Parry and the data was lost during serialization. When deserializing the physics world in Rapier, this failure propagates up and fails the whole snapshot.
This PR makes deserializing an unknown (custom) workspace return an
UnknownContactManifoldsWorkspaceinstead of an error. This dummy value can be replaced with the actual workspace type at the next execution of the relevant algorithm.