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Profiling support (#743)

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This commit is contained in:
Thierry Berger
2024-11-19 16:33:26 +01:00
committed by GitHub
parent ff79f4c674
commit 510237cc29
56 changed files with 185 additions and 635 deletions
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1
.gitignore vendored
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@@ -7,3 +7,4 @@ target
package-lock.json package-lock.json
**/*.csv **/*.csv
.history .history
.vscode/

326
.vscode/launch.json vendored
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@@ -1,326 +0,0 @@
{
// Use IntelliSense to learn about possible attributes.
// Hover to view descriptions of existing attributes.
// For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
"version": "0.2.0",
"configurations": [
{
"type": "lldb",
"request": "launch",
"name": "Debug unit tests in library 'rapier2d'",
"cargo": {
"args": [
"test",
"--no-run",
"--lib",
"--package=rapier2d"
],
"filter": {
"name": "rapier2d",
"kind": "lib"
}
},
"args": [],
"cwd": "${workspaceFolder}"
},
{
"type": "lldb",
"request": "launch",
"name": "Debug unit tests in library 'rapier2d_f64'",
"cargo": {
"args": [
"test",
"--no-run",
"--lib",
"--package=rapier2d-f64"
],
"filter": {
"name": "rapier2d_f64",
"kind": "lib"
}
},
"args": [],
"cwd": "${workspaceFolder}"
},
{
"type": "lldb",
"request": "launch",
"name": "Debug unit tests in library 'rapier_testbed2d'",
"cargo": {
"args": [
"test",
"--no-run",
"--lib",
"--package=rapier_testbed2d"
],
"filter": {
"name": "rapier_testbed2d",
"kind": "lib"
}
},
"args": [],
"cwd": "${workspaceFolder}"
},
{
"type": "lldb",
"request": "launch",
"name": "Debug executable 'all_examples2'",
"cargo": {
"args": [
"build",
"--bin=all_examples2",
"--package=rapier-examples-2d"
],
"filter": {
"name": "all_examples2",
"kind": "bin"
}
},
"args": [],
"cwd": "${workspaceFolder}"
},
{
"type": "lldb",
"request": "launch",
"name": "Debug unit tests in executable 'all_examples2'",
"cargo": {
"args": [
"test",
"--no-run",
"--bin=all_examples2",
"--package=rapier-examples-2d"
],
"filter": {
"name": "all_examples2",
"kind": "bin"
}
},
"args": [],
"cwd": "${workspaceFolder}"
},
{
"type": "lldb",
"request": "launch",
"name": "Debug executable 'all_benchmarks2'",
"cargo": {
"args": [
"build",
"--bin=all_benchmarks2",
"--package=rapier-benchmarks-2d"
],
"filter": {
"name": "all_benchmarks2",
"kind": "bin"
}
},
"args": [],
"cwd": "${workspaceFolder}"
},
{
"type": "lldb",
"request": "launch",
"name": "Debug unit tests in executable 'all_benchmarks2'",
"cargo": {
"args": [
"test",
"--no-run",
"--bin=all_benchmarks2",
"--package=rapier-benchmarks-2d"
],
"filter": {
"name": "all_benchmarks2",
"kind": "bin"
}
},
"args": [],
"cwd": "${workspaceFolder}"
},
{
"type": "lldb",
"request": "launch",
"name": "Debug unit tests in library 'rapier3d'",
"cargo": {
"args": [
"test",
"--no-run",
"--lib",
"--package=rapier3d"
],
"filter": {
"name": "rapier3d",
"kind": "lib"
}
},
"args": [],
"cwd": "${workspaceFolder}"
},
{
"type": "lldb",
"request": "launch",
"name": "Debug unit tests in library 'rapier3d_f64'",
"cargo": {
"args": [
"test",
"--no-run",
"--lib",
"--package=rapier3d-f64"
],
"filter": {
"name": "rapier3d_f64",
"kind": "lib"
}
},
"args": [],
"cwd": "${workspaceFolder}"
},
{
"type": "lldb",
"request": "launch",
"name": "Debug unit tests in library 'rapier_testbed3d'",
"cargo": {
"args": [
"test",
"--no-run",
"--lib",
"--package=rapier_testbed3d"
],
"filter": {
"name": "rapier_testbed3d",
"kind": "lib"
}
},
"args": [],
"cwd": "${workspaceFolder}"
},
{
"type": "lldb",
"request": "launch",
"name": "Debug executable 'all_examples3'",
"cargo": {
"args": [
"build",
"--bin=all_examples3",
"--package=rapier-examples-3d"
],
"filter": {
"name": "all_examples3",
"kind": "bin"
}
},
"args": [],
"cwd": "${workspaceFolder}"
},
{
"type": "lldb",
"request": "launch",
"name": "Debug unit tests in executable 'all_examples3'",
"cargo": {
"args": [
"test",
"--no-run",
"--bin=all_examples3",
"--package=rapier-examples-3d"
],
"filter": {
"name": "all_examples3",
"kind": "bin"
}
},
"args": [],
"cwd": "${workspaceFolder}"
},
{
"type": "lldb",
"request": "launch",
"name": "Run 'all_examples3'",
"cargo": {
"args": [
"run",
"--release",
"--bin=all_examples3",
"--package=rapier-examples-3d"
],
"filter": {
"name": "all_examples3",
"kind": "bin"
}
},
"args": [],
"cwd": "${workspaceFolder}"
},
{
"type": "lldb",
"request": "launch",
"name": "Debug executable 'harness_capsules3'",
"cargo": {
"args": [
"build",
"--bin=harness_capsules3",
"--package=rapier-examples-3d"
],
"filter": {
"name": "harness_capsules3",
"kind": "bin"
}
},
"args": [],
"cwd": "${workspaceFolder}"
},
{
"type": "lldb",
"request": "launch",
"name": "Debug unit tests in executable 'harness_capsules3'",
"cargo": {
"args": [
"test",
"--no-run",
"--bin=harness_capsules3",
"--package=rapier-examples-3d"
],
"filter": {
"name": "harness_capsules3",
"kind": "bin"
}
},
"args": [],
"cwd": "${workspaceFolder}"
},
{
"type": "lldb",
"request": "launch",
"name": "Debug executable 'all_benchmarks3'",
"cargo": {
"args": [
"build",
"--bin=all_benchmarks3",
"--package=rapier-benchmarks-3d"
],
"filter": {
"name": "all_benchmarks3",
"kind": "bin"
}
},
"args": [],
"cwd": "${workspaceFolder}"
},
{
"type": "lldb",
"request": "launch",
"name": "Debug unit tests in executable 'all_benchmarks3'",
"cargo": {
"args": [
"test",
"--no-run",
"--bin=all_benchmarks3",
"--package=rapier-benchmarks-3d"
],
"filter": {
"name": "all_benchmarks3",
"kind": "bin"
}
},
"args": [],
"cwd": "${workspaceFolder}"
}
]
}

5
.vscode/settings.json vendored
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@@ -1,5 +0,0 @@
{
"rust-analyzer.cargo.features": [
"simd-stable"
]
}

288
.vscode/tasks.json vendored
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@@ -1,288 +0,0 @@
{
// See https://go.microsoft.com/fwlink/?LinkId=733558
// for the documentation about the tasks.json format
"version": "2.0.0",
"options": {
"env": {
"RUST_BACKTRACE": "1"
}
},
"tasks": [
{
"label": "🚀 run 3d",
"type": "shell",
"command": "cargo",
"args": [
"run",
"--bin",
"all_examples3",
"--release",
"--features",
"other-backends",
"--",
"--pause"
],
"group": "build"
},
{
"label": "🚀 run 3d − 💌 deterministic",
"type": "shell",
"command": "cargo",
"args": [
"run",
"--bin",
"all_examples3",
"--release",
"--features",
"enhanced-determinism",
"--",
"--pause"
],
"group": "build"
},
{
"label": "🚀 run 3d − 🌈 simd",
"type": "shell",
"command": "cargo",
"args": [
"run",
"--bin",
"all_examples3",
"--release",
"--features",
"simd-stable,other-backends",
"--",
"--pause"
],
"group": "build"
},
{
"label": "🚀 run 3d − 🌈 simd 🪢 parallel",
"type": "shell",
"command": "cargo",
"args": [
"run",
"--bin",
"all_examples3",
"--release",
"--features",
"simd-stable,other-backends,parallel",
"--",
"--pause"
],
"group": "build"
},
{
"label": "🚀 run 2d",
"type": "shell",
"command": "cargo",
"args": [
"run",
"--bin",
"all_examples2",
"--release",
"--features",
"other-backends",
"--",
"--pause"
],
"group": "build"
},
{
"label": "🚀 run 2d − 🌈 simd",
"type": "shell",
"command": "cargo",
"args": [
"run",
"--bin",
"all_examples2",
"--release",
"--features",
"simd-stable,other-backends",
"--",
"--pause"
],
"group": "build"
},
{
"label": "🚀 run 2d − 🌈 simd 🪢 parallel",
"type": "shell",
"command": "cargo",
"args": [
"run",
"--bin",
"all_examples2",
"--release",
"--features",
"simd-stable,other-backends,parallel",
"--",
"--pause"
],
"group": "build"
},
{
"label": "⏱ bench 3d",
"type": "shell",
"command": "cargo",
"args": [
"run",
"--bin",
"all_benchmarks3",
"--release",
"--features",
"other-backends",
"--",
"--pause"
],
"group": "build"
},
{
"label": "⏱ bench 3d − 🌈 simd",
"type": "shell",
"command": "cargo",
"args": [
"run",
"--bin",
"all_benchmarks3",
"--release",
"--features",
"simd-stable,other-backends",
"--",
"--pause"
],
"group": "build"
},
{
"label": "⏱ bench 3d − 🌈 simd 🪢 parallel",
"type": "shell",
"command": "cargo",
"args": [
"run",
"--bin",
"all_benchmarks3",
"--release",
"--features",
"simd-stable,other-backends,parallel",
"--",
"--pause"
],
"group": "build"
},
{
"label": "⏱ bench 2d",
"type": "shell",
"command": "cargo",
"args": [
"run",
"--bin",
"all_benchmarks2",
"--release",
"--features",
"other-backends",
"--",
"--pause"
],
"group": "build"
},
{
"label": "⏱ bench 2d − 🌈 simd",
"type": "shell",
"command": "cargo",
"args": [
"run",
"--bin",
"all_benchmarks2",
"--release",
"--features",
"simd-stable,other-backends",
"--",
"--pause"
],
"group": "build"
},
{
"label": "⏱ bench 2d − 🌈 simd 🪢 parallel",
"type": "shell",
"command": "cargo",
"args": [
"run",
"--bin",
"all_benchmarks2",
"--release",
"--features",
"simd-stable,other-backends,parallel",
"--",
"--pause"
],
"group": "build"
},
{
"label": "🪲 debug 3d",
"type": "shell",
"command": "cargo",
"args": [
"run",
"--bin",
"all_examples3",
"--",
"--pause"
],
"group": "build"
},
{
"label": "🪲 debug 3d − 🌈 simd",
"type": "shell",
"command": "cargo",
"args": [
"run",
"--bin",
"all_examples3",
"--features",
"simd-stable",
"--",
"--pause"
],
"group": "build"
},
{
"label": "🪲 debug 3d − 🌈 simd 🪢 parallel",
"type": "shell",
"command": "cargo",
"args": [
"run",
"--bin",
"all_examples3",
"--features",
"simd-stable,parallel",
"--",
"--pause"
],
"group": "build"
},
{
"label": "🪲 debug 3d − 💌 deterministic",
"type": "shell",
"command": "cargo",
"args": [
"run",
"--bin",
"all_examples3",
"--features",
"enhanced-determinism",
"--",
"--pause"
],
"group": "build"
},
{
"label": "🛠 tests",
"type": "shell",
"command": "cargo",
"args": [
"test"
],
"group": "build"
},
]
]
}

2
CHANGELOG.md
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@@ -11,6 +11,8 @@
### Added ### Added
- `RigidBodySet` and `ColliderSet` have a new constructor `with_capacity`. - `RigidBodySet` and `ColliderSet` have a new constructor `with_capacity`.
- Use `profiling` crate to provide helpful profiling information in different tools.
- The testbeds have been updated to use `puffin_egui`
### Modified ### Modified

6
Cargo.toml
View File

@@ -38,6 +38,12 @@ resolver = "2"
#parry2d-f64 = { git = "https://github.com/dimforge/parry", branch = "master" } #parry2d-f64 = { git = "https://github.com/dimforge/parry", branch = "master" }
#parry3d-f64 = { git = "https://github.com/dimforge/parry", branch = "master" } #parry3d-f64 = { git = "https://github.com/dimforge/parry", branch = "master" }
# # For feature unstable-puffin-pr-235
# # See https://github.com/dimforge/rapier/issues/760.
# puffin_egui = { version = "0.29", optional = true, git = "https://github.com/Vrixyz/puffin.git", branch = "expose_ui_options" }
# puffin = { version = "0.19", optional = true, git = "https://github.com/Vrixyz/puffin.git", branch = "expose_ui_options" }
# #
[profile.release] [profile.release]
#debug = true #debug = true
#codegen-units = 1 #codegen-units = 1

1
crates/rapier2d-f64/Cargo.toml
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@@ -84,6 +84,7 @@ bitflags = "2"
log = "0.4" log = "0.4"
ordered-float = "4" ordered-float = "4"
thiserror = "1" thiserror = "1"
profiling = "1.0"
[dev-dependencies] [dev-dependencies]
bincode = "1" bincode = "1"

1
crates/rapier2d/Cargo.toml
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@@ -84,6 +84,7 @@ bitflags = "2"
log = "0.4" log = "0.4"
ordered-float = "4" ordered-float = "4"
thiserror = "1" thiserror = "1"
profiling = "1.0"
[dev-dependencies] [dev-dependencies]
bincode = "1" bincode = "1"

1
crates/rapier3d-f64/Cargo.toml
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@@ -87,6 +87,7 @@ bitflags = "2"
log = "0.4" log = "0.4"
ordered-float = "4" ordered-float = "4"
thiserror = "1" thiserror = "1"
profiling = "1.0"
[dev-dependencies] [dev-dependencies]
bincode = "1" bincode = "1"

1
crates/rapier3d-meshloader/Cargo.toml
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@@ -26,6 +26,7 @@ wavefront = ["mesh-loader/obj"]
[dependencies] [dependencies]
thiserror = "1.0.61" thiserror = "1.0.61"
profiling = "1.0"
mesh-loader = { version = "0.1.12", optional = true } mesh-loader = { version = "0.1.12", optional = true }
rapier3d = { version = "0.22", path = "../rapier3d" } rapier3d = { version = "0.22", path = "../rapier3d" }

1
crates/rapier3d/Cargo.toml
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@@ -87,6 +87,7 @@ bitflags = "2"
log = "0.4" log = "0.4"
ordered-float = "4" ordered-float = "4"
thiserror = "1" thiserror = "1"
profiling = "1.0"
[dev-dependencies] [dev-dependencies]
bincode = "1" bincode = "1"

10
crates/rapier_testbed2d-f64/Cargo.toml
View File

@@ -20,7 +20,7 @@ edition = "2021"
maintenance = { status = "actively-developed" } maintenance = { status = "actively-developed" }
[lib] [lib]
name = "rapier_testbed2d" name = "rapier_testbed2d_f64"
path = "../../src_testbed/lib.rs" path = "../../src_testbed/lib.rs"
required-features = ["dim2"] required-features = ["dim2"]
@@ -34,9 +34,12 @@ default = ["dim2"]
dim2 = [] dim2 = []
parallel = ["rapier/parallel", "num_cpus"] parallel = ["rapier/parallel", "num_cpus"]
other-backends = ["wrapped2d"] other-backends = ["wrapped2d"]
profiling = ["dep:puffin_egui", "profiling/profile-with-puffin"]
# See https://github.com/dimforge/rapier/issues/760.
unstable-puffin-pr-235 = []
[package.metadata.docs.rs] [package.metadata.docs.rs]
features = ["parallel", "other-backends"] features = ["parallel", "profiling"]
[dependencies] [dependencies]
nalgebra = { version = "0.33", features = ["rand", "glam027"] } nalgebra = { version = "0.33", features = ["rand", "glam027"] }
@@ -55,7 +58,8 @@ bevy_ecs = "0.14"
bevy_core_pipeline = "0.14" bevy_core_pipeline = "0.14"
bevy_pbr = "0.14" bevy_pbr = "0.14"
bevy_sprite = "0.14" bevy_sprite = "0.14"
#bevy_prototype_debug_lines = "0.7" profiling = "1.0"
puffin_egui = { version = "0.29", optional = true }
# Dependencies for native only. # Dependencies for native only.
[target.'cfg(not(target_arch = "wasm32"))'.dependencies] [target.'cfg(not(target_arch = "wasm32"))'.dependencies]

8
crates/rapier_testbed2d/Cargo.toml
View File

@@ -34,9 +34,12 @@ default = ["dim2"]
dim2 = [] dim2 = []
parallel = ["rapier/parallel", "num_cpus"] parallel = ["rapier/parallel", "num_cpus"]
other-backends = ["wrapped2d"] other-backends = ["wrapped2d"]
profiling = ["dep:puffin_egui", "profiling/profile-with-puffin"]
# See https://github.com/dimforge/rapier/issues/760.
unstable-puffin-pr-235 = []
[package.metadata.docs.rs] [package.metadata.docs.rs]
features = ["parallel", "other-backends"] features = ["parallel", "other-backends", "profiling"]
[dependencies] [dependencies]
nalgebra = { version = "0.33", features = ["rand", "glam027"] } nalgebra = { version = "0.33", features = ["rand", "glam027"] }
@@ -55,7 +58,8 @@ bevy_ecs = "0.14"
bevy_core_pipeline = "0.14" bevy_core_pipeline = "0.14"
bevy_pbr = "0.14" bevy_pbr = "0.14"
bevy_sprite = "0.14" bevy_sprite = "0.14"
#bevy_prototype_debug_lines = "0.7" profiling = "1.0"
puffin_egui = { version = "0.29", optional = true }
# Dependencies for native only. # Dependencies for native only.
[target.'cfg(not(target_arch = "wasm32"))'.dependencies] [target.'cfg(not(target_arch = "wasm32"))'.dependencies]

10
crates/rapier_testbed3d-f64/Cargo.toml
View File

@@ -20,7 +20,7 @@ edition = "2021"
maintenance = { status = "actively-developed" } maintenance = { status = "actively-developed" }
[lib] [lib]
name = "rapier_testbed3d" name = "rapier_testbed3d_f64"
path = "../../src_testbed/lib.rs" path = "../../src_testbed/lib.rs"
required-features = ["dim3"] required-features = ["dim3"]
@@ -36,9 +36,12 @@ rust.unexpected_cfgs = { level = "warn", check-cfg = [
default = ["dim3"] default = ["dim3"]
dim3 = [] dim3 = []
parallel = ["rapier/parallel", "num_cpus"] parallel = ["rapier/parallel", "num_cpus"]
profiling = ["dep:puffin_egui", "profiling/profile-with-puffin"]
# See https://github.com/dimforge/rapier/issues/760.
unstable-puffin-pr-235 = []
[package.metadata.docs.rs] [package.metadata.docs.rs]
features = ["parallel"] features = ["parallel", "profiling"]
[dependencies] [dependencies]
nalgebra = { version = "0.33", features = ["rand", "glam027"] } nalgebra = { version = "0.33", features = ["rand", "glam027"] }
@@ -57,7 +60,8 @@ bevy_ecs = "0.14"
bevy_core_pipeline = "0.14" bevy_core_pipeline = "0.14"
bevy_pbr = "0.14" bevy_pbr = "0.14"
bevy_sprite = "0.14" bevy_sprite = "0.14"
#bevy_prototype_debug_lines = { version = "0.7", features = [ "3d" ] } profiling = "1.0"
puffin_egui = { version = "0.29", optional = true, git = "https://github.com/Vrixyz/puffin.git", branch = "expose_ui_options" }
# Dependencies for native only. # Dependencies for native only.
[target.'cfg(not(target_arch = "wasm32"))'.dependencies] [target.'cfg(not(target_arch = "wasm32"))'.dependencies]

8
crates/rapier_testbed3d/Cargo.toml
View File

@@ -34,9 +34,12 @@ default = ["dim3"]
dim3 = [] dim3 = []
parallel = ["rapier/parallel", "num_cpus"] parallel = ["rapier/parallel", "num_cpus"]
other-backends = ["physx", "physx-sys", "glam"] other-backends = ["physx", "physx-sys", "glam"]
profiling = ["dep:puffin_egui", "profiling/profile-with-puffin"]
# See https://github.com/dimforge/rapier/issues/760.
unstable-puffin-pr-235 = []
[package.metadata.docs.rs] [package.metadata.docs.rs]
features = ["parallel", "other-backends"] features = ["parallel", "other-backends", "profiling"]
[dependencies] [dependencies]
nalgebra = { version = "0.33", features = ["rand", "glam027"] } nalgebra = { version = "0.33", features = ["rand", "glam027"] }
@@ -58,7 +61,8 @@ bevy_ecs = "0.14"
bevy_core_pipeline = "0.14" bevy_core_pipeline = "0.14"
bevy_pbr = "0.14" bevy_pbr = "0.14"
bevy_sprite = "0.14" bevy_sprite = "0.14"
#bevy_prototype_debug_lines = { version = "0.7", features = [ "3d" ] } profiling = "1.0"
puffin_egui = { version = "0.29", optional = true }
# Dependencies for native only. # Dependencies for native only.
[target.'cfg(not(target_arch = "wasm32"))'.dependencies] [target.'cfg(not(target_arch = "wasm32"))'.dependencies]

1
examples2d/Cargo.toml
View File

@@ -20,6 +20,7 @@ usvg = "0.14"
[dependencies.rapier_testbed2d] [dependencies.rapier_testbed2d]
path = "../crates/rapier_testbed2d" path = "../crates/rapier_testbed2d"
features = ["profiling"]
[dependencies.rapier2d] [dependencies.rapier2d]
path = "../crates/rapier2d" path = "../crates/rapier2d"

1
examples3d-f64/all_examples3-f64.rs
View File

@@ -3,6 +3,7 @@
#[cfg(target_arch = "wasm32")] #[cfg(target_arch = "wasm32")]
use wasm_bindgen::prelude::*; use wasm_bindgen::prelude::*;
extern crate rapier3d_f64 as rapier3d; extern crate rapier3d_f64 as rapier3d;
extern crate rapier_testbed3d_f64 as rapier_testbed3d;
use inflector::Inflector; use inflector::Inflector;

2
examples3d/Cargo.toml
View File

@@ -23,6 +23,7 @@ bincode = "1"
[dependencies.rapier_testbed3d] [dependencies.rapier_testbed3d]
path = "../crates/rapier_testbed3d" path = "../crates/rapier_testbed3d"
features = ["profiling"]
[dependencies.rapier3d] [dependencies.rapier3d]
path = "../crates/rapier3d" path = "../crates/rapier3d"
@@ -42,4 +43,3 @@ path = "./harness_capsules3.rs"
#[lib] #[lib]
#crate-type = ["cdylib", "rlib"] #crate-type = ["cdylib", "rlib"]
#path = "./all_examples3_wasm.rs" #path = "./all_examples3_wasm.rs"

5
src/control/character_controller.rs
View File

@@ -211,6 +211,7 @@ impl KinematicCharacterController {
} }
/// Computes the possible movement for a shape. /// Computes the possible movement for a shape.
#[profiling::function]
pub fn move_shape( pub fn move_shape(
&self, &self,
dt: Real, dt: Real,
@@ -430,6 +431,7 @@ impl KinematicCharacterController {
self.offset.eval(up_extends) + 0.05 self.offset.eval(up_extends) + 0.05
} }
#[profiling::function]
fn detect_grounded_status_and_apply_friction( fn detect_grounded_status_and_apply_friction(
&self, &self,
dt: Real, dt: Real,
@@ -657,6 +659,7 @@ impl KinematicCharacterController {
Vector2::new(side_extent, up_extent) Vector2::new(side_extent, up_extent)
} }
#[profiling::function]
fn handle_stairs( fn handle_stairs(
&self, &self,
bodies: &RigidBodySet, bodies: &RigidBodySet,
@@ -817,6 +820,7 @@ impl KinematicCharacterController {
/// impulses to the rigid-bodies surrounding the character shape at the time of the collisions. /// impulses to the rigid-bodies surrounding the character shape at the time of the collisions.
/// Note that the impulse calculation is only approximate as it is not based on a global /// Note that the impulse calculation is only approximate as it is not based on a global
/// constraints resolution scheme. /// constraints resolution scheme.
#[profiling::function]
pub fn solve_character_collision_impulses<'a>( pub fn solve_character_collision_impulses<'a>(
&self, &self,
dt: Real, dt: Real,
@@ -846,6 +850,7 @@ impl KinematicCharacterController {
/// impulses to the rigid-bodies surrounding the character shape at the time of the collision. /// impulses to the rigid-bodies surrounding the character shape at the time of the collision.
/// Note that the impulse calculation is only approximate as it is not based on a global /// Note that the impulse calculation is only approximate as it is not based on a global
/// constraints resolution scheme. /// constraints resolution scheme.
#[profiling::function]
fn solve_single_character_collision_impulse( fn solve_single_character_collision_impulse(
&self, &self,
dt: Real, dt: Real,

3
src/control/ray_cast_vehicle_controller.rs
View File

@@ -321,6 +321,7 @@ impl DynamicRayCastVehicleController {
wheel.wheel_axle_ws = chassis_transform * wheel.axle_cs; wheel.wheel_axle_ws = chassis_transform * wheel.axle_cs;
} }
#[profiling::function]
fn ray_cast( fn ray_cast(
&mut self, &mut self,
bodies: &RigidBodySet, bodies: &RigidBodySet,
@@ -403,6 +404,7 @@ impl DynamicRayCastVehicleController {
} }
/// Updates the vehicle’s velocity based on its suspension, engine force, and brake. /// Updates the vehicle’s velocity based on its suspension, engine force, and brake.
#[profiling::function]
pub fn update_vehicle( pub fn update_vehicle(
&mut self, &mut self,
dt: Real, dt: Real,
@@ -531,6 +533,7 @@ impl DynamicRayCastVehicleController {
} }
} }
#[profiling::function]
fn update_friction(&mut self, bodies: &mut RigidBodySet, colliders: &ColliderSet, dt: Real) { fn update_friction(&mut self, bodies: &mut RigidBodySet, colliders: &ColliderSet, dt: Real) {
let num_wheels = self.wheels.len(); let num_wheels = self.wheels.len();

2
src/dynamics/ccd/ccd_solver.rs
View File

@@ -108,6 +108,7 @@ impl CCDSolver {
} }
/// Find the first time a CCD-enabled body has a non-sensor collider hitting another non-sensor collider. /// Find the first time a CCD-enabled body has a non-sensor collider hitting another non-sensor collider.
#[profiling::function]
pub fn find_first_impact( pub fn find_first_impact(
&mut self, &mut self,
dt: Real, dt: Real,
@@ -225,6 +226,7 @@ impl CCDSolver {
} }
/// Outputs the set of bodies as well as their first time-of-impact event. /// Outputs the set of bodies as well as their first time-of-impact event.
#[profiling::function]
pub fn predict_impacts_at_next_positions( pub fn predict_impacts_at_next_positions(
&mut self, &mut self,
dt: Real, dt: Real,

1
src/dynamics/ccd/toi_entry.rs
View File

@@ -34,6 +34,7 @@ impl TOIEntry {
} }
} }
#[profiling::function]
pub fn try_from_colliders<QD: ?Sized + QueryDispatcher>( pub fn try_from_colliders<QD: ?Sized + QueryDispatcher>(
query_dispatcher: &QD, query_dispatcher: &QD,
ch1: ColliderHandle, ch1: ColliderHandle,

3
src/dynamics/joint/impulse_joint/impulse_joint_set.rs
View File

@@ -244,6 +244,7 @@ impl ImpulseJointSet {
/// ///
/// If `wake_up` is set to `true`, then the bodies attached to this joint will be /// If `wake_up` is set to `true`, then the bodies attached to this joint will be
/// automatically woken up during the next timestep. /// automatically woken up during the next timestep.
#[profiling::function]
pub fn insert( pub fn insert(
&mut self, &mut self,
body1: RigidBodyHandle, body1: RigidBodyHandle,
@@ -329,6 +330,7 @@ impl ImpulseJointSet {
/// ///
/// If `wake_up` is set to `true`, then the bodies attached to this joint will be /// If `wake_up` is set to `true`, then the bodies attached to this joint will be
/// automatically woken up. /// automatically woken up.
#[profiling::function]
pub fn remove(&mut self, handle: ImpulseJointHandle, wake_up: bool) -> Option<ImpulseJoint> { pub fn remove(&mut self, handle: ImpulseJointHandle, wake_up: bool) -> Option<ImpulseJoint> {
let id = self.joint_ids.remove(handle.0)?; let id = self.joint_ids.remove(handle.0)?;
let endpoints = self.joint_graph.graph.edge_endpoints(id)?; let endpoints = self.joint_graph.graph.edge_endpoints(id)?;
@@ -356,6 +358,7 @@ impl ImpulseJointSet {
/// The provided rigid-body handle is not required to identify a rigid-body that /// The provided rigid-body handle is not required to identify a rigid-body that
/// is still contained by the `bodies` component set. /// is still contained by the `bodies` component set.
/// Returns the (now invalid) handles of the removed impulse_joints. /// Returns the (now invalid) handles of the removed impulse_joints.
#[profiling::function]
pub fn remove_joints_attached_to_rigid_body( pub fn remove_joints_attached_to_rigid_body(
&mut self, &mut self,
handle: RigidBodyHandle, handle: RigidBodyHandle,

2
src/dynamics/joint/multibody_joint/multibody.rs
View File

@@ -489,6 +489,7 @@ impl Multibody {
} }
/// Computes the constant terms of the dynamics. /// Computes the constant terms of the dynamics.
#[profiling::function]
pub(crate) fn update_dynamics(&mut self, dt: Real, bodies: &mut RigidBodySet) { pub(crate) fn update_dynamics(&mut self, dt: Real, bodies: &mut RigidBodySet) {
/* /*
* Compute velocities. * Compute velocities.
@@ -1094,6 +1095,7 @@ impl Multibody {
/// is the sum of the current position of `self` and this `displacement`. /// is the sum of the current position of `self` and this `displacement`.
// TODO: this shares a lot of code with `forward_kinematics` and `update_body_jacobians`, except // TODO: this shares a lot of code with `forward_kinematics` and `update_body_jacobians`, except
// that we are only traversing a single kinematic chain. Could this be refactored? // that we are only traversing a single kinematic chain. Could this be refactored?
#[profiling::function]
pub fn forward_kinematics_single_branch( pub fn forward_kinematics_single_branch(
&self, &self,
bodies: &RigidBodySet, bodies: &RigidBodySet,

2
src/dynamics/joint/multibody_joint/multibody_ik.rs
View File

@@ -64,6 +64,7 @@ impl Multibody {
/// desired transform. /// desired transform.
/// ///
/// The displacement calculated by this function is added to the `displacement` vector. /// The displacement calculated by this function is added to the `displacement` vector.
#[profiling::function]
pub fn inverse_kinematics_delta_with_jacobian( pub fn inverse_kinematics_delta_with_jacobian(
jacobian: &Jacobian<Real>, jacobian: &Jacobian<Real>,
desired_movement: &SpacialVector<Real>, desired_movement: &SpacialVector<Real>,
@@ -88,6 +89,7 @@ impl Multibody {
/// can be moved through the inverse-kinematics process. Any joint for which `joint_can_move` /// can be moved through the inverse-kinematics process. Any joint for which `joint_can_move`
/// returns `false` will have its corresponding displacement constrained to 0. /// returns `false` will have its corresponding displacement constrained to 0.
/// Set the closure to `|_| true` if all the joints are free to move. /// Set the closure to `|_| true` if all the joints are free to move.
#[profiling::function]
pub fn inverse_kinematics( pub fn inverse_kinematics(
&self, &self,
bodies: &RigidBodySet, bodies: &RigidBodySet,

1
src/dynamics/joint/multibody_joint/multibody_joint.rs
View File

@@ -86,6 +86,7 @@ impl MultibodyJoint {
} }
/// Integrate the position of this multibody_joint. /// Integrate the position of this multibody_joint.
#[profiling::function]
pub fn integrate(&mut self, dt: Real, vels: &[Real]) { pub fn integrate(&mut self, dt: Real, vels: &[Real]) {
let locked_bits = self.data.locked_axes.bits(); let locked_bits = self.data.locked_axes.bits();
let mut curr_free_dof = 0; let mut curr_free_dof = 0;

6
src/dynamics/joint/multibody_joint/multibody_joint_set.rs
View File

@@ -153,6 +153,7 @@ impl MultibodyJointSet {
} }
/// Inserts a new multibody_joint into this set. /// Inserts a new multibody_joint into this set.
#[profiling::function]
fn do_insert( fn do_insert(
&mut self, &mut self,
body1: RigidBodyHandle, body1: RigidBodyHandle,
@@ -213,6 +214,7 @@ impl MultibodyJointSet {
} }
/// Removes a multibody_joint from this set. /// Removes a multibody_joint from this set.
#[profiling::function]
pub fn remove(&mut self, handle: MultibodyJointHandle, wake_up: bool) { pub fn remove(&mut self, handle: MultibodyJointHandle, wake_up: bool) {
if let Some(removed) = self.rb2mb.get(handle.0).copied() { if let Some(removed) = self.rb2mb.get(handle.0).copied() {
let multibody = self.multibodies.remove(removed.multibody.0).unwrap(); let multibody = self.multibodies.remove(removed.multibody.0).unwrap();
@@ -259,6 +261,7 @@ impl MultibodyJointSet {
} }
/// Removes all the multibody_joints from the multibody the given rigid-body is part of. /// Removes all the multibody_joints from the multibody the given rigid-body is part of.
#[profiling::function]
pub fn remove_multibody_articulations(&mut self, handle: RigidBodyHandle, wake_up: bool) { pub fn remove_multibody_articulations(&mut self, handle: RigidBodyHandle, wake_up: bool) {
if let Some(removed) = self.rb2mb.get(handle.0).copied() { if let Some(removed) = self.rb2mb.get(handle.0).copied() {
// Remove the multibody. // Remove the multibody.
@@ -281,6 +284,7 @@ impl MultibodyJointSet {
} }
/// Removes all the multibody joints attached to a rigid-body. /// Removes all the multibody joints attached to a rigid-body.
#[profiling::function]
pub fn remove_joints_attached_to_rigid_body(&mut self, rb_to_remove: RigidBodyHandle) { pub fn remove_joints_attached_to_rigid_body(&mut self, rb_to_remove: RigidBodyHandle) {
// TODO: optimize this. // TODO: optimize this.
if let Some(link_to_remove) = self.rb2mb.get(rb_to_remove.0).copied() { if let Some(link_to_remove) = self.rb2mb.get(rb_to_remove.0).copied() {
@@ -412,6 +416,7 @@ impl MultibodyJointSet {
} }
/// Iterates through all the joints attached to the given rigid-body. /// Iterates through all the joints attached to the given rigid-body.
#[profiling::function]
pub fn attached_joints( pub fn attached_joints(
&self, &self,
rb: RigidBodyHandle, rb: RigidBodyHandle,
@@ -441,6 +446,7 @@ impl MultibodyJointSet {
/// Iterate through the handles of all the rigid-bodies attached to this rigid-body /// Iterate through the handles of all the rigid-bodies attached to this rigid-body
/// by an enabled multibody_joint. /// by an enabled multibody_joint.
#[profiling::function]
pub fn bodies_attached_with_enabled_joint( pub fn bodies_attached_with_enabled_joint(
&self, &self,
body: RigidBodyHandle, body: RigidBodyHandle,

3
src/dynamics/rigid_body.rs
View File

@@ -1016,6 +1016,7 @@ impl RigidBody {
/// Applies an impulse at the center-of-mass of this rigid-body. /// Applies an impulse at the center-of-mass of this rigid-body.
/// The impulse is applied right away, changing the linear velocity. /// The impulse is applied right away, changing the linear velocity.
/// This does nothing on non-dynamic bodies. /// This does nothing on non-dynamic bodies.
#[profiling::function]
pub fn apply_impulse(&mut self, impulse: Vector<Real>, wake_up: bool) { pub fn apply_impulse(&mut self, impulse: Vector<Real>, wake_up: bool) {
if !impulse.is_zero() && self.body_type == RigidBodyType::Dynamic { if !impulse.is_zero() && self.body_type == RigidBodyType::Dynamic {
self.vels.linvel += impulse.component_mul(&self.mprops.effective_inv_mass); self.vels.linvel += impulse.component_mul(&self.mprops.effective_inv_mass);
@@ -1030,6 +1031,7 @@ impl RigidBody {
/// The impulse is applied right away, changing the angular velocity. /// The impulse is applied right away, changing the angular velocity.
/// This does nothing on non-dynamic bodies. /// This does nothing on non-dynamic bodies.
#[cfg(feature = "dim2")] #[cfg(feature = "dim2")]
#[profiling::function]
pub fn apply_torque_impulse(&mut self, torque_impulse: Real, wake_up: bool) { pub fn apply_torque_impulse(&mut self, torque_impulse: Real, wake_up: bool) {
if !torque_impulse.is_zero() && self.body_type == RigidBodyType::Dynamic { if !torque_impulse.is_zero() && self.body_type == RigidBodyType::Dynamic {
self.vels.angvel += self.mprops.effective_world_inv_inertia_sqrt self.vels.angvel += self.mprops.effective_world_inv_inertia_sqrt
@@ -1045,6 +1047,7 @@ impl RigidBody {
/// The impulse is applied right away, changing the angular velocity. /// The impulse is applied right away, changing the angular velocity.
/// This does nothing on non-dynamic bodies. /// This does nothing on non-dynamic bodies.
#[cfg(feature = "dim3")] #[cfg(feature = "dim3")]
#[profiling::function]
pub fn apply_torque_impulse(&mut self, torque_impulse: Vector<Real>, wake_up: bool) { pub fn apply_torque_impulse(&mut self, torque_impulse: Vector<Real>, wake_up: bool) {
if !torque_impulse.is_zero() && self.body_type == RigidBodyType::Dynamic { if !torque_impulse.is_zero() && self.body_type == RigidBodyType::Dynamic {
self.vels.angvel += self.mprops.effective_world_inv_inertia_sqrt self.vels.angvel += self.mprops.effective_world_inv_inertia_sqrt

1
src/dynamics/rigid_body_components.rs
View File

@@ -624,6 +624,7 @@ impl RigidBodyVelocity {
/// The kinetic energy of this rigid-body. /// The kinetic energy of this rigid-body.
#[must_use] #[must_use]
#[profiling::function]
pub fn kinetic_energy(&self, rb_mprops: &RigidBodyMassProps) -> Real { pub fn kinetic_energy(&self, rb_mprops: &RigidBodyMassProps) -> Real {
let mut energy = (rb_mprops.mass() * self.linvel.norm_squared()) / 2.0; let mut energy = (rb_mprops.mass() * self.linvel.norm_squared()) / 2.0;

1
src/dynamics/rigid_body_set.rs
View File

@@ -84,6 +84,7 @@ impl RigidBodySet {
} }
/// Removes a rigid-body, and all its attached colliders and impulse_joints, from these sets. /// Removes a rigid-body, and all its attached colliders and impulse_joints, from these sets.
#[profiling::function]
pub fn remove( pub fn remove(
&mut self, &mut self,
handle: RigidBodyHandle, handle: RigidBodyHandle,

4
src/dynamics/solver/contact_constraint/contact_constraints_set.rs
View File

@@ -454,6 +454,7 @@ impl ContactConstraintsSet {
} }
} }
#[profiling::function]
pub fn solve_restitution( pub fn solve_restitution(
&mut self, &mut self,
solver_vels: &mut [SolverVel<Real>], solver_vels: &mut [SolverVel<Real>],
@@ -465,6 +466,7 @@ impl ContactConstraintsSet {
} }
} }
#[profiling::function]
pub fn solve_restitution_wo_bias( pub fn solve_restitution_wo_bias(
&mut self, &mut self,
solver_vels: &mut [SolverVel<Real>], solver_vels: &mut [SolverVel<Real>],
@@ -477,6 +479,7 @@ impl ContactConstraintsSet {
} }
} }
#[profiling::function]
pub fn solve_friction( pub fn solve_friction(
&mut self, &mut self,
solver_vels: &mut [SolverVel<Real>], solver_vels: &mut [SolverVel<Real>],
@@ -495,6 +498,7 @@ impl ContactConstraintsSet {
} }
} }
#[profiling::function]
pub fn update( pub fn update(
&mut self, &mut self,
params: &IntegrationParameters, params: &IntegrationParameters,

1
src/dynamics/solver/contact_constraint/generic_one_body_constraint.rs
View File

@@ -272,6 +272,7 @@ impl GenericOneBodyConstraint {
); );
} }
#[profiling::function]
pub fn solve( pub fn solve(
&mut self, &mut self,
jacobians: &DVector<Real>, jacobians: &DVector<Real>,

1
src/dynamics/solver/interaction_groups.rs
View File

@@ -218,6 +218,7 @@ impl InteractionGroups {
} }
#[cfg(feature = "simd-is-enabled")] #[cfg(feature = "simd-is-enabled")]
#[profiling::function]
pub fn group_joints( pub fn group_joints(
&mut self, &mut self,
island_id: usize, island_id: usize,

1
src/dynamics/solver/island_solver.rs
View File

@@ -28,6 +28,7 @@ impl IslandSolver {
} }
} }
#[profiling::function]
pub fn init_and_solve( pub fn init_and_solve(
&mut self, &mut self,
island_id: usize, island_id: usize,

2
src/dynamics/solver/joint_constraint/joint_constraints_set.rs
View File

@@ -361,6 +361,7 @@ impl JointConstraintsSet {
} }
} }
#[profiling::function]
pub fn solve( pub fn solve(
&mut self, &mut self,
solver_vels: &mut [SolverVel<Real>], solver_vels: &mut [SolverVel<Real>],
@@ -391,6 +392,7 @@ impl JointConstraintsSet {
} }
} }
#[profiling::function]
pub fn update( pub fn update(
&mut self, &mut self,
params: &IntegrationParameters, params: &IntegrationParameters,

1
src/dynamics/solver/joint_constraint/joint_velocity_constraint.rs
View File

@@ -110,6 +110,7 @@ pub struct JointTwoBodyConstraint<N: SimdRealCopy, const LANES: usize> {
} }
impl<N: SimdRealCopy, const LANES: usize> JointTwoBodyConstraint<N, LANES> { impl<N: SimdRealCopy, const LANES: usize> JointTwoBodyConstraint<N, LANES> {
#[profiling::function]
pub fn solve_generic( pub fn solve_generic(
&mut self, &mut self,
solver_vel1: &mut SolverVel<N>, solver_vel1: &mut SolverVel<N>,

1
src/dynamics/solver/parallel_island_solver.rs
View File

@@ -160,6 +160,7 @@ impl ParallelIslandSolver {
} }
} }
#[profiling::function]
pub fn init_and_solve<'s>( pub fn init_and_solve<'s>(
&'s mut self, &'s mut self,
scope: &Scope<'s>, scope: &Scope<'s>,

2
src/dynamics/solver/velocity_solver.rs
View File

@@ -149,6 +149,7 @@ impl VelocitySolver {
} }
} }
#[profiling::function]
pub fn solve_constraints( pub fn solve_constraints(
&mut self, &mut self,
params: &IntegrationParameters, params: &IntegrationParameters,
@@ -221,6 +222,7 @@ impl VelocitySolver {
} }
} }
#[profiling::function]
pub fn integrate_positions( pub fn integrate_positions(
&mut self, &mut self,
params: &IntegrationParameters, params: &IntegrationParameters,

5
src/geometry/broad_phase_multi_sap/broad_phase_multi_sap.rs
View File

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

1
src/geometry/broad_phase_multi_sap/sap_axis.rs
View File

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

4
src/geometry/broad_phase_multi_sap/sap_layer.rs
View File

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

1
src/geometry/broad_phase_multi_sap/sap_region.rs
View File

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

1
src/geometry/contact_pair.rs
View File

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

2
src/geometry/interaction_graph.rs
View File

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

1
src/geometry/mesh_converter.rs
View File

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

7
src/geometry/narrow_phase.rs
View File

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

7
src/pipeline/debug_render_pipeline/debug_render_pipeline.rs
View File

@@ -85,6 +85,7 @@ impl DebugRenderPipeline {
} }
/// Render the scene. /// Render the scene.
#[profiling::function]
pub fn render( pub fn render(
&mut self, &mut self,
backend: &mut impl DebugRenderBackend, backend: &mut impl DebugRenderBackend,
@@ -101,6 +102,7 @@ impl DebugRenderPipeline {
} }
/// Render contact. /// Render contact.
#[profiling::function]
pub fn render_contacts( pub fn render_contacts(
&mut self, &mut self,
backend: &mut impl DebugRenderBackend, backend: &mut impl DebugRenderBackend,
@@ -167,6 +169,7 @@ impl DebugRenderPipeline {
} }
/// Render only the joints from the scene. /// Render only the joints from the scene.
#[profiling::function]
pub fn render_joints( pub fn render_joints(
&mut self, &mut self,
backend: &mut impl DebugRenderBackend, backend: &mut impl DebugRenderBackend,
@@ -249,6 +252,7 @@ impl DebugRenderPipeline {
} }
/// Render only the rigid-bodies from the scene. /// Render only the rigid-bodies from the scene.
#[profiling::function]
pub fn render_rigid_bodies( pub fn render_rigid_bodies(
&mut self, &mut self,
backend: &mut impl DebugRenderBackend, backend: &mut impl DebugRenderBackend,
@@ -288,6 +292,7 @@ impl DebugRenderPipeline {
} }
/// Render only the colliders from the scene. /// Render only the colliders from the scene.
#[profiling::function]
pub fn render_colliders( pub fn render_colliders(
&mut self, &mut self,
backend: &mut impl DebugRenderBackend, backend: &mut impl DebugRenderBackend,
@@ -351,6 +356,7 @@ impl DebugRenderPipeline {
} }
#[cfg(feature = "dim2")] #[cfg(feature = "dim2")]
#[profiling::function]
fn render_shape( fn render_shape(
&mut self, &mut self,
object: DebugRenderObject, object: DebugRenderObject,
@@ -458,6 +464,7 @@ impl DebugRenderPipeline {
} }
#[cfg(feature = "dim3")] #[cfg(feature = "dim3")]
#[profiling::function]
fn render_shape( fn render_shape(
&mut self, &mut self,
object: DebugRenderObject, object: DebugRenderObject,

13
src/pipeline/query_pipeline/mod.rs
View File

@@ -312,6 +312,7 @@ impl QueryPipeline {
/// Update the query pipeline incrementally, avoiding a complete rebuild of its /// Update the query pipeline incrementally, avoiding a complete rebuild of its
/// internal data-structure. /// internal data-structure.
#[profiling::function]
pub fn update_incremental( pub fn update_incremental(
&mut self, &mut self,
colliders: &ColliderSet, colliders: &ColliderSet,
@@ -353,6 +354,7 @@ impl QueryPipeline {
/// volume generator. /// volume generator.
/// ///
/// See [`generators`] for available generators. /// See [`generators`] for available generators.
#[profiling::function]
pub fn update_with_generator(&mut self, mode: impl QbvhDataGenerator<ColliderHandle>) { pub fn update_with_generator(&mut self, mode: impl QbvhDataGenerator<ColliderHandle>) {
self.qbvh.clear_and_rebuild(mode, self.dilation_factor); self.qbvh.clear_and_rebuild(mode, self.dilation_factor);
} }
@@ -368,6 +370,7 @@ impl QueryPipeline {
/// it starts inside of a shape. If this `false` then the ray will hit the shape's boundary /// it starts inside of a shape. If this `false` then the ray will hit the shape's boundary
/// even if its starts inside of it. /// even if its starts inside of it.
/// * `filter`: set of rules used to determine which collider is taken into account by this scene query. /// * `filter`: set of rules used to determine which collider is taken into account by this scene query.
#[profiling::function]
pub fn cast_ray( pub fn cast_ray(
&self, &self,
bodies: &RigidBodySet, bodies: &RigidBodySet,
@@ -395,6 +398,7 @@ impl QueryPipeline {
/// it starts inside of a shape. If this `false` then the ray will hit the shape's boundary /// it starts inside of a shape. If this `false` then the ray will hit the shape's boundary
/// even if its starts inside of it. /// even if its starts inside of it.
/// * `filter`: set of rules used to determine which collider is taken into account by this scene query. /// * `filter`: set of rules used to determine which collider is taken into account by this scene query.
#[profiling::function]
pub fn cast_ray_and_get_normal( pub fn cast_ray_and_get_normal(
&self, &self,
bodies: &RigidBodySet, bodies: &RigidBodySet,
@@ -429,6 +433,7 @@ impl QueryPipeline {
/// * `callback`: function executed on each collider for which a ray intersection has been found. /// * `callback`: function executed on each collider for which a ray intersection has been found.
/// There is no guarantees on the order the results will be yielded. If this callback returns `false`, /// There is no guarantees on the order the results will be yielded. If this callback returns `false`,
/// this method will exit early, ignore any further raycast. /// this method will exit early, ignore any further raycast.
#[profiling::function]
pub fn intersections_with_ray<'a>( pub fn intersections_with_ray<'a>(
&self, &self,
bodies: &'a RigidBodySet, bodies: &'a RigidBodySet,
@@ -465,6 +470,7 @@ impl QueryPipeline {
/// * `shape_pos` - The position of the shape used for the intersection test. /// * `shape_pos` - The position of the shape used for the intersection test.
/// * `shape` - The shape used for the intersection test. /// * `shape` - The shape used for the intersection test.
/// * `filter`: set of rules used to determine which collider is taken into account by this scene query. /// * `filter`: set of rules used to determine which collider is taken into account by this scene query.
#[profiling::function]
pub fn intersection_with_shape( pub fn intersection_with_shape(
&self, &self,
bodies: &RigidBodySet, bodies: &RigidBodySet,
@@ -501,6 +507,7 @@ impl QueryPipeline {
/// (if the point is located inside of an hollow shape, it is projected on the shape's /// (if the point is located inside of an hollow shape, it is projected on the shape's
/// boundary). /// boundary).
/// * `filter`: set of rules used to determine which collider is taken into account by this scene query. /// * `filter`: set of rules used to determine which collider is taken into account by this scene query.
#[profiling::function]
pub fn project_point( pub fn project_point(
&self, &self,
bodies: &RigidBodySet, bodies: &RigidBodySet,
@@ -526,6 +533,7 @@ impl QueryPipeline {
/// * `filter`: set of rules used to determine which collider is taken into account by this scene query. /// * `filter`: set of rules used to determine which collider is taken into account by this scene query.
/// * `callback` - A function called with each collider with a shape /// * `callback` - A function called with each collider with a shape
/// containing the `point`. /// containing the `point`.
#[profiling::function]
pub fn intersections_with_point( pub fn intersections_with_point(
&self, &self,
bodies: &RigidBodySet, bodies: &RigidBodySet,
@@ -562,6 +570,7 @@ impl QueryPipeline {
/// (if the point is located inside of an hollow shape, it is projected on the shape's /// (if the point is located inside of an hollow shape, it is projected on the shape's
/// boundary). /// boundary).
/// * `filter`: set of rules used to determine which collider is taken into account by this scene query. /// * `filter`: set of rules used to determine which collider is taken into account by this scene query.
#[profiling::function]
pub fn project_point_and_get_feature( pub fn project_point_and_get_feature(
&self, &self,
bodies: &RigidBodySet, bodies: &RigidBodySet,
@@ -578,6 +587,7 @@ impl QueryPipeline {
} }
/// Finds all handles of all the colliders with an [`Aabb`] intersecting the given [`Aabb`]. /// Finds all handles of all the colliders with an [`Aabb`] intersecting the given [`Aabb`].
#[profiling::function]
pub fn colliders_with_aabb_intersecting_aabb( pub fn colliders_with_aabb_intersecting_aabb(
&self, &self,
aabb: &Aabb, aabb: &Aabb,
@@ -604,6 +614,7 @@ impl QueryPipeline {
/// the shape is penetrating another shape at its starting point **and** its trajectory is such /// the shape is penetrating another shape at its starting point **and** its trajectory is such
/// that it’s on a path to exit that penetration state. /// that it’s on a path to exit that penetration state.
/// * `filter`: set of rules used to determine which collider is taken into account by this scene query. /// * `filter`: set of rules used to determine which collider is taken into account by this scene query.
#[profiling::function]
pub fn cast_shape( pub fn cast_shape(
&self, &self,
bodies: &RigidBodySet, bodies: &RigidBodySet,
@@ -645,6 +656,7 @@ impl QueryPipeline {
/// that normal) then the nonlinear shape-casting will attempt to find another impact, /// that normal) then the nonlinear shape-casting will attempt to find another impact,
/// at a time `> start_time` that could result in tunnelling. /// at a time `> start_time` that could result in tunnelling.
/// * `filter`: set of rules used to determine which collider is taken into account by this scene query. /// * `filter`: set of rules used to determine which collider is taken into account by this scene query.
#[profiling::function]
pub fn nonlinear_cast_shape( pub fn nonlinear_cast_shape(
&self, &self,
bodies: &RigidBodySet, bodies: &RigidBodySet,
@@ -680,6 +692,7 @@ impl QueryPipeline {
/// * `shape` - The shape to test. /// * `shape` - The shape to test.
/// * `filter`: set of rules used to determine which collider is taken into account by this scene query. /// * `filter`: set of rules used to determine which collider is taken into account by this scene query.
/// * `callback` - A function called with the handles of each collider intersecting the `shape`. /// * `callback` - A function called with the handles of each collider intersecting the `shape`.
#[profiling::function]
pub fn intersections_with_shape( pub fn intersections_with_shape(
&self, &self,
bodies: &RigidBodySet, bodies: &RigidBodySet,

3
src_testbed/box2d_backend.rs
View File

@@ -28,6 +28,7 @@ pub struct Box2dWorld {
} }
impl Box2dWorld { impl Box2dWorld {
#[profiling::function]
pub fn from_rapier( pub fn from_rapier(
gravity: Vector2<f32>, gravity: Vector2<f32>,
bodies: &RigidBodySet, bodies: &RigidBodySet,
@@ -221,6 +222,7 @@ impl Box2dWorld {
} }
} }
#[profiling::function]
pub fn step(&mut self, counters: &mut Counters, params: &IntegrationParameters) { pub fn step(&mut self, counters: &mut Counters, params: &IntegrationParameters) {
counters.step_started(); counters.step_started();
self.world self.world
@@ -228,6 +230,7 @@ impl Box2dWorld {
counters.step_completed(); counters.step_completed();
} }
#[profiling::function]
pub fn sync(&self, bodies: &mut RigidBodySet, colliders: &mut ColliderSet) { pub fn sync(&self, bodies: &mut RigidBodySet, colliders: &mut ColliderSet) {
for (handle, body) in bodies.iter_mut() { for (handle, body) in bodies.iter_mut() {
if let Some(pb2_handle) = self.rapier2box2d.get(&handle) { if let Some(pb2_handle) = self.rapier2box2d.get(&handle) {

2
src_testbed/graphics.rs
View File

@@ -18,7 +18,7 @@ use rand_pcg::Pcg32;
use std::collections::HashMap; use std::collections::HashMap;
#[cfg(feature = "dim2")] #[cfg(feature = "dim2")]
pub type BevyMaterial = ColorMaterial; pub type BevyMaterial = bevy_sprite::ColorMaterial;
#[cfg(feature = "dim3")] #[cfg(feature = "dim3")]
pub type BevyMaterial = StandardMaterial; pub type BevyMaterial = StandardMaterial;

1
src_testbed/harness/mod.rs
View File

@@ -206,6 +206,7 @@ impl Harness {
self.step_with_graphics(None); self.step_with_graphics(None);
} }
#[profiling::function]
pub fn step_with_graphics(&mut self, mut graphics: Option<&mut TestbedGraphics>) { pub fn step_with_graphics(&mut self, mut graphics: Option<&mut TestbedGraphics>) {
#[cfg(feature = "parallel")] #[cfg(feature = "parallel")]
{ {

4
src_testbed/objects/node.rs
View File

@@ -43,7 +43,7 @@ impl EntityWithGraphics {
} }
#[cfg(feature = "dim2")] #[cfg(feature = "dim2")]
let selection_material = ColorMaterial { let selection_material = bevy_sprite::ColorMaterial {
color: Color::from(Srgba::rgb(1.0, 0.0, 0.0)), color: Color::from(Srgba::rgb(1.0, 0.0, 0.0)),
texture: None, texture: None,
}; };
@@ -109,7 +109,7 @@ impl EntityWithGraphics {
} }
#[cfg(feature = "dim2")] #[cfg(feature = "dim2")]
let material = ColorMaterial { let material = bevy_sprite::ColorMaterial {
color: bevy_color, color: bevy_color,
texture: None, texture: None,
}; };

1
src_testbed/physics/mod.rs
View File

@@ -54,6 +54,7 @@ impl PhysicsSnapshot {
}) })
} }
#[profiling::function]
pub fn restore(&self) -> bincode::Result<DeserializedPhysicsSnapshot> { pub fn restore(&self) -> bincode::Result<DeserializedPhysicsSnapshot> {
Ok(DeserializedPhysicsSnapshot { Ok(DeserializedPhysicsSnapshot {
timestep_id: self.timestep_id, timestep_id: self.timestep_id,

1
src_testbed/physx_backend.rs
View File

@@ -147,6 +147,7 @@ impl Drop for PhysxWorld {
} }
impl PhysxWorld { impl PhysxWorld {
#[profiling::function]
pub fn from_rapier( pub fn from_rapier(
gravity: Vector3<f32>, gravity: Vector3<f32>,
integration_parameters: &IntegrationParameters, integration_parameters: &IntegrationParameters,

13
src_testbed/testbed.rs
View File

@@ -249,6 +249,9 @@ impl TestbedApp {
} }
pub fn run_with_init(mut self, mut init: impl FnMut(&mut App)) { pub fn run_with_init(mut self, mut init: impl FnMut(&mut App)) {
#[cfg(feature = "profiling")]
puffin_egui::puffin::set_scopes_on(true);
let mut args = env::args(); let mut args = env::args();
let mut benchmark_mode = false; let mut benchmark_mode = false;
@@ -885,6 +888,10 @@ impl<'a, 'b, 'c, 'd, 'e, 'f> Testbed<'a, 'b, 'c, 'd, 'e, 'f> {
} }
fn handle_common_events(&mut self, events: &ButtonInput<KeyCode>) { fn handle_common_events(&mut self, events: &ButtonInput<KeyCode>) {
// C can be used to write within profiling filter.
if events.pressed(KeyCode::ControlLeft) || events.pressed(KeyCode::ControlRight) {
return;
}
for key in events.get_just_released() { for key in events.get_just_released() {
match *key { match *key {
KeyCode::KeyT => { KeyCode::KeyT => {
@@ -1184,6 +1191,8 @@ fn update_testbed(
), ),
keys: Res<ButtonInput<KeyCode>>, keys: Res<ButtonInput<KeyCode>>,
) { ) {
profiling::finish_frame!();
let meshes = &mut *meshes; let meshes = &mut *meshes;
let materials = &mut *materials; let materials = &mut *materials;
@@ -1210,7 +1219,9 @@ fn update_testbed(
plugins: &mut plugins, plugins: &mut plugins,
}; };
testbed.handle_common_events(&keys); if !ui_context.ctx_mut().wants_keyboard_input() {
testbed.handle_common_events(&keys);
}
testbed.update_character_controller(&keys); testbed.update_character_controller(&keys);
#[cfg(feature = "dim3")] #[cfg(feature = "dim3")]
{ {

35
src_testbed/ui.rs
View File

@@ -21,6 +21,41 @@ pub fn update_ui(
harness: &mut Harness, harness: &mut Harness,
debug_render: &mut DebugRenderPipelineResource, debug_render: &mut DebugRenderPipelineResource,
) { ) {
#[cfg(feature = "profiling")]
{
let window = egui::Window::new("Profiling");
let window = window.default_open(false);
#[cfg(feature = "unstable-puffin-pr-235")]
{
use std::sync::Once;
static START: Once = Once::new();
fn set_default_rapier_filter() {
let mut profile_ui = puffin_egui::PROFILE_UI.lock();
profile_ui
.profiler_ui
.flamegraph_options
.scope_name_filter
.set_filter("Harness::step_with_graphics".to_string());
}
START.call_once(|| {
set_default_rapier_filter();
});
window.show(ui_context.ctx_mut(), |ui| {
if ui.button("🔍 Rapier filter").clicked() {
set_default_rapier_filter();
}
puffin_egui::profiler_ui(ui);
});
}
#[cfg(not(feature = "unstable-puffin-pr-235"))]
window.show(ui_context.ctx_mut(), |ui| {
puffin_egui::profiler_ui(ui);
});
}
egui::Window::new("Parameters").show(ui_context.ctx_mut(), |ui| { egui::Window::new("Parameters").show(ui_context.ctx_mut(), |ui| {
if state.backend_names.len() > 1 && !state.example_names.is_empty() { if state.backend_names.len() > 1 && !state.example_names.is_empty() {
let mut changed = false; let mut changed = false;