48de83817e
* feat: initial implementation of contact manifold reduction * feat: try bepu-like manifold reduction * feat: simplification of the constraints counting and indexing logic * feat: add concept of incremental islands with a single awake island More islands manager fixes * feat: start adding support for multiple awake islands * feat: add more timings * feat: implement incremental island split & merge * chore: refactor islands manager into multiple files * chore: refactor manifold reduction to its own file + add naive reduction method * feat: add islands manager validation checks * fix various bugs in the new islands system * chore: remove redundant active_set_offset field
46 lines
1.6 KiB
Rust
46 lines
1.6 KiB
Rust
use crate::counters::Timer;
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use std::fmt::{Display, Formatter, Result};
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/// Performance counters related to collision detection.
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#[derive(Default, Clone, Copy)]
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pub struct CollisionDetectionCounters {
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/// Number of contact pairs detected.
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pub ncontact_pairs: usize,
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/// Time spent for the broad-phase of the collision detection.
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pub broad_phase_time: Timer,
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/// Time spent by the final broad-phase AABB update after body movement to keep
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/// user scene queries valid.
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pub final_broad_phase_time: Timer,
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/// Time spent for the narrow-phase of the collision detection.
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pub narrow_phase_time: Timer,
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}
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impl CollisionDetectionCounters {
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/// Creates a new counter initialized to zero.
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pub fn new() -> Self {
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CollisionDetectionCounters {
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ncontact_pairs: 0,
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broad_phase_time: Timer::new(),
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final_broad_phase_time: Timer::new(),
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narrow_phase_time: Timer::new(),
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}
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}
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/// Resets all the counters and timers.
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pub fn reset(&mut self) {
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self.ncontact_pairs = 0;
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self.broad_phase_time.reset();
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self.final_broad_phase_time.reset();
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self.narrow_phase_time.reset();
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}
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}
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impl Display for CollisionDetectionCounters {
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fn fmt(&self, f: &mut Formatter) -> Result {
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writeln!(f, "Number of contact pairs: {}", self.ncontact_pairs)?;
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writeln!(f, "Broad-phase time: {}", self.broad_phase_time)?;
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writeln!(f, "Final broad-phase time: {}", self.final_broad_phase_time)?;
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writeln!(f, "Narrow-phase time: {}", self.narrow_phase_time)
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}
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}
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