Profiling support (#743)

src/geometry/broad_phase_multi_sap/broad_phase_multi_sap.rs

@@ -254,6 +254,7 @@ impl BroadPhaseMultiSap {
     /// This will:
     /// - Remove all the subregion proxies from the larger layer.
     /// - Pre-insert all the smaller layer's region proxies into this layer.
+    #[profiling::function]
     fn finalize_layer_insertion(&mut self, layer_id: u8) {
         // Remove all the region endpoints from the larger layer.
         // They will be automatically replaced by the new layer's regions.
@@ -289,6 +290,7 @@ impl BroadPhaseMultiSap {
     ///    the `update` function.
     /// 4. All the regions from the smaller layer are added to that new
     ///    layer.
+    #[profiling::function]
     fn ensure_layer_exists(&mut self, new_depth: i8) -> u8 {
         // Special case: we don't have any layers yet.
         if self.layers.is_empty() {
@@ -473,6 +475,7 @@ impl BroadPhaseMultiSap {
     /// added to its larger layer so we can detect when an object
     /// in a larger layer may start interacting with objects in a smaller
     /// layer.
+    #[profiling::function]
     fn propagate_created_regions(&mut self) {
         let mut curr_layer = Some(self.smallest_layer);
 
@@ -502,6 +505,7 @@ impl BroadPhaseMultiSap {
         }
     }
 
+    #[profiling::function]
     fn update_layers_and_find_pairs(&mut self, out_events: &mut Vec<BroadPhasePairEvent>) {
         if self.layers.is_empty() {
             return;
@@ -579,6 +583,7 @@ impl BroadPhaseMultiSap {
 
 impl BroadPhase for BroadPhaseMultiSap {
     /// Updates the broad-phase, taking into account the new collider positions.
+    #[profiling::function]
     fn update(
         &mut self,
         dt: Real,

src/geometry/broad_phase_multi_sap/sap_axis.rs

@@ -36,6 +36,7 @@ impl SAPAxis {
         self.endpoints.push(SAPEndpoint::end_sentinel());
     }
 
+    #[profiling::function]
     pub fn batch_insert(
         &mut self,
         dim: usize,

src/geometry/broad_phase_multi_sap/sap_layer.rs

@@ -49,6 +49,7 @@ impl SAPLayer {
     /// Deletes from all the regions of this layer, all the endpoints corresponding
     /// to subregions. Clears the arrays of subregions indices from all the regions of
     /// this layer.
+    #[profiling::function]
     pub fn unregister_all_subregions(&mut self, proxies: &mut SAPProxies) {
         for region_id in self.regions.values() {
             // Extract the region to make the borrow-checker happy.
@@ -108,6 +109,7 @@ impl SAPLayer {
     /// that subregion center. Because the hierarchical grid cells have aligned boundaries
     /// at each depth, we have the guarantee that a given subregion will only be part of
     /// one region on its parent "larger" layer.
+    #[profiling::function]
     fn register_subregion(
         &mut self,
         proxy_id: BroadPhaseProxyIndex,
@@ -145,6 +147,7 @@ impl SAPLayer {
         }
     }
 
+    #[profiling::function]
     fn unregister_subregion(
         &mut self,
         proxy_id: BroadPhaseProxyIndex,
@@ -273,6 +276,7 @@ impl SAPLayer {
         }
     }
 
+    #[profiling::function]
     pub fn predelete_proxy(&mut self, proxies: &mut SAPProxies, proxy_index: BroadPhaseProxyIndex) {
         // Discretize the Aabb to find the regions that need to be invalidated.
         let proxy_aabb = &mut proxies[proxy_index].aabb;

src/geometry/broad_phase_multi_sap/sap_region.rs

@@ -214,6 +214,7 @@ impl SAPRegion {
         }
     }
 
+    #[profiling::function]
     pub fn update(
         &mut self,
         proxies: &SAPProxies,

src/geometry/contact_pair.rs

@@ -186,6 +186,7 @@ impl ContactPair {
     ///
     /// Returns a reference to the contact, as well as the contact manifold
     /// it is part of.
+    #[profiling::function]
     pub fn find_deepest_contact(&self) -> Option<(&ContactManifold, &Contact)> {
         let mut deepest = None;
 

src/geometry/interaction_graph.rs

@@ -96,6 +96,7 @@ impl<N: Copy, E> InteractionGraph<N, E> {
     }
 
     /// The interaction between the two collision objects identified by their graph index.
+    #[profiling::function]
     pub fn interaction_pair(
         &self,
         id1: ColliderGraphIndex,
@@ -111,6 +112,7 @@ impl<N: Copy, E> InteractionGraph<N, E> {
     }
 
     /// The interaction between the two collision objects identified by their graph index.
+    #[profiling::function]
     pub fn interaction_pair_mut(
         &mut self,
         id1: ColliderGraphIndex,

src/geometry/mesh_converter.rs

@@ -53,6 +53,7 @@ pub enum MeshConverter {
 impl MeshConverter {
     /// Applies the conversion rule described by this [`MeshConverter`] to build a shape from
     /// the given vertex and index buffers.
+    #[profiling::function]
     pub fn convert(
         &self,
         vertices: Vec<Point<Real>>,

src/geometry/narrow_phase.rs

@@ -268,6 +268,7 @@ impl NarrowPhase {
     // }
 
     /// Maintain the narrow-phase internal state by taking collider removal into account.
+    #[profiling::function]
     pub fn handle_user_changes(
         &mut self,
         mut islands: Option<&mut IslandManager>,
@@ -321,6 +322,7 @@ impl NarrowPhase {
         );
     }
 
+    #[profiling::function]
     pub(crate) fn remove_collider(
         &mut self,
         intersection_graph_id: ColliderGraphIndex,
@@ -412,6 +414,7 @@ impl NarrowPhase {
         }
     }
 
+    #[profiling::function]
     pub(crate) fn handle_user_changes_on_colliders(
         &mut self,
         mut islands: Option<&mut IslandManager>,
@@ -513,6 +516,7 @@ impl NarrowPhase {
         }
     }
 
+    #[profiling::function]
     fn remove_pair(
         &mut self,
         islands: Option<&mut IslandManager>,
@@ -584,6 +588,7 @@ impl NarrowPhase {
         }
     }
 
+    #[profiling::function]
     fn add_pair(&mut self, colliders: &ColliderSet, pair: &ColliderPair) {
         if let (Some(co1), Some(co2)) =
             (colliders.get(pair.collider1), colliders.get(pair.collider2))
@@ -687,6 +692,7 @@ impl NarrowPhase {
         }
     }
 
+    #[profiling::function]
     pub(crate) fn compute_intersections(
         &mut self,
         bodies: &RigidBodySet,
@@ -785,6 +791,7 @@ impl NarrowPhase {
         });
     }
 
+    #[profiling::function]
     pub(crate) fn compute_contacts(
         &mut self,
         prediction_distance: Real,