Various broken performance experiments

6 files changed, 49 insertions, 18 deletions

diff --git a/src/geometry/broad_phase_multi_sap/broad_phase_pair_event.rs b/src/geometry/broad_phase_multi_sap/broad_phase_pair_event.rs
index fdc9bfd..b08814b 100644
--- a/src/geometry/broad_phase_multi_sap/broad_phase_pair_event.rs
+++ b/src/geometry/broad_phase_multi_sap/broad_phase_pair_event.rs
@@ -27,6 +27,7 @@ impl ColliderPair {
     }
 }
 
+#[derive(Copy, Clone, Debug, PartialEq, Eq)]
 pub enum BroadPhasePairEvent {
     AddPair(ColliderPair),
     DeletePair(ColliderPair),
diff --git a/src/geometry/narrow_phase.rs b/src/geometry/narrow_phase.rs
index bbabc95..843015e 100644
--- a/src/geometry/narrow_phase.rs
+++ b/src/geometry/narrow_phase.rs
@@ -654,23 +654,31 @@ impl NarrowPhase {
             + ComponentSet<ColliderFlags>
             + ComponentSetOption<ColliderParent>,
     {
+        let mut num_delete = 0;
         for event in broad_phase_events {
             match event {
                 BroadPhasePairEvent::AddPair(pair) => {
                     self.add_pair(colliders, pair);
                 }
                 BroadPhasePairEvent::DeletePair(pair) => {
-                    self.remove_pair(
-                        islands.as_deref_mut(),
-                        colliders,
-                        bodies,
-                        pair,
-                        events,
-                        PairRemovalMode::Auto,
-                    );
+                    num_delete += 1;
+                    // self.remove_pair(
+                    //     islands.as_deref_mut(),
+                    //     colliders,
+                    //     bodies,
+                    //     pair,
+                    //     events,
+                    //     PairRemovalMode::Auto,
+                    // );
                 }
             }
         }
+
+        println!(
+            "Delete events: {}, add events: {}",
+            num_delete,
+            broad_phase_events.len() - num_delete
+        );
     }
 
     pub(crate) fn compute_intersections<Bodies, Colliders>(
@@ -818,6 +826,9 @@ impl NarrowPhase {
         }
 
         let query_dispatcher = &*self.query_dispatcher;
+        println!("num threads: {}", rayon::current_num_threads());
+        let t0 = instant::now();
+        println!("Num contacts: {}", self.contact_graph.graph.edges.len());
 
         // TODO: don't iterate on all the edges.
         par_iter_mut!(&mut self.contact_graph.graph.edges).for_each(|edge| {
@@ -1021,6 +1032,8 @@ impl NarrowPhase {
                 pair.has_any_active_contact = has_any_active_contact;
             }
         });
+
+        println!("NF time: {}", instant::now() - t0);
     }
 
     /// Retrieve all the interactions with at least one contact point, happening between two active bodies.
diff --git a/src/pipeline/physics_pipeline.rs b/src/pipeline/physics_pipeline.rs
index 80d75eb..0ac734a 100644
--- a/src/pipeline/physics_pipeline.rs
+++ b/src/pipeline/physics_pipeline.rs
@@ -124,6 +124,7 @@ impl PhysicsPipeline {
         self.counters.cd.narrow_phase_time.resume();
 
         // Update narrow-phase.
+        let t0 = instant::now();
         if handle_user_changes {
             narrow_phase.handle_user_changes(
                 Some(islands),
@@ -134,6 +135,9 @@ impl PhysicsPipeline {
                 events,
             );
         }
+        println!("A time: {}", instant::now() - t0);
+        let t0 = instant::now();
+        println!("Num BF events: {}", self.broad_phase_events.len());
         narrow_phase.register_pairs(
             Some(islands),
             colliders,
@@ -141,6 +145,8 @@ impl PhysicsPipeline {
             &self.broad_phase_events,
             events,
         );
+        println!("B time: {}", instant::now() - t0);
+
         narrow_phase.compute_contacts(
             integration_parameters.prediction_distance,
             bodies,
diff --git a/src_testbed/harness/mod.rs b/src_testbed/harness/mod.rs
index c85fbc4..f8e553c 100644
--- a/src_testbed/harness/mod.rs
+++ b/src_testbed/harness/mod.rs
@@ -150,6 +150,13 @@ impl Harness {
     pub fn step_with_graphics(&mut self, mut graphics: Option<&mut TestbedGraphics>) {
         #[cfg(feature = "parallel")]
         {
+            if self.state.thread_pool.current_num_threads() != self.state.num_threads {
+                self.state.thread_pool = rapier::rayon::ThreadPoolBuilder::new()
+                    .num_threads(self.state.num_threads)
+                    .build()
+                    .unwrap();
+            }
+
             let physics = &mut self.physics;
             let event_handler = &self.event_handler;
             self.state.thread_pool.install(|| {
@@ -184,11 +191,11 @@ impl Harness {
             &self.event_handler,
         );
 
-        self.physics.query_pipeline.update(
-            &self.physics.islands,
-            &self.physics.bodies,
-            &self.physics.colliders,
-        );
+        // self.physics.query_pipeline.update(
+        //     &self.physics.islands,
+        //     &self.physics.bodies,
+        //     &self.physics.colliders,
+        // );
 
         for plugin in &mut self.plugins {
             plugin.step(&mut self.physics, &self.state)
diff --git a/src_testbed/objects/node.rs b/src_testbed/objects/node.rs
index 9acc62e..f1a1dea 100644
--- a/src_testbed/objects/node.rs
+++ b/src_testbed/objects/node.rs
@@ -185,7 +185,7 @@ impl EntityWithGraphics {
         // Ball mesh
         //
         let ball = Mesh::from(shape::Icosphere {
-            subdivisions: 2,
+            subdivisions: 0,
             radius: 1.0,
         });
         out.insert(ShapeType::Ball, meshes.add(ball));
diff --git a/src_testbed/testbed.rs b/src_testbed/testbed.rs
index 6f022f2..dbe2415 100644
--- a/src_testbed/testbed.rs
+++ b/src_testbed/testbed.rs
@@ -396,7 +396,7 @@ impl TestbedApp {
                 ..Default::default()
             })
             .insert_resource(ClearColor(Color::rgb(0.85, 0.85, 0.85)))
-            .insert_resource(Msaa { samples: 2 })
+            // .insert_resource(Msaa { samples: 2 })
             .insert_resource(WgpuOptions {
                 features: WgpuFeatures {
                     // The Wireframe requires NonFillPolygonMode feature
@@ -487,6 +487,10 @@ impl<'a, 'b, 'c, 'd> Testbed<'a, 'b, 'c, 'd> {
         &mut self.harness.physics.integration_parameters
     }
 
+    pub fn pause(&mut self) {
+        self.state.running = RunMode::Stop;
+    }
+
     pub fn physics_state_mut(&mut self) -> &mut PhysicsState {
         &mut self.harness.physics
     }
@@ -783,9 +787,9 @@ fn draw_contacts(_nf: &NarrowPhase, _colliders: &ColliderSet) {
 fn setup_graphics_environment(mut commands: Commands) {
     let lights = [
         Vec3::new(100.0, 100.0, 100.0),
-        Vec3::new(100.0, 100.0, -100.0),
-        Vec3::new(-100.0, 100.0, -100.0),
-        Vec3::new(-100.0, 100.0, 100.0),
+        // Vec3::new(100.0, 100.0, -100.0),
+        // Vec3::new(-100.0, 100.0, -100.0),
+        // Vec3::new(-100.0, 100.0, 100.0),
     ];
 
     for light in lights.iter() {