Profiling support (#743)

56 files changed, 185 insertions, 635 deletions

diff --git a/.gitignore b/.gitignore
index db22dde..27351d5 100644
--- a/.gitignore
+++ b/.gitignore
@@ -6,4 +6,5 @@ target
 .DS_Store
 package-lock.json
 **/*.csv
-.history
\ No newline at end of file
+.history
+.vscode/
\ No newline at end of file
diff --git a/.vscode/launch.json b/.vscode/launch.json
deleted file mode 100644
index 3f328c5..0000000
--- a/.vscode/launch.json
+++ /dev/null
@@ -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}"
-        }
-    ]
-}
\ No newline at end of file
diff --git a/.vscode/settings.json b/.vscode/settings.json
deleted file mode 100644
index e932736..0000000
--- a/.vscode/settings.json
+++ /dev/null
@@ -1,5 +0,0 @@
-{
-    "rust-analyzer.cargo.features": [
-        "simd-stable"
-    ]
-}
\ No newline at end of file
diff --git a/.vscode/tasks.json b/.vscode/tasks.json
deleted file mode 100644
index d103f97..0000000
--- a/.vscode/tasks.json
+++ /dev/null
@@ -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"
-        },
-    ]
-]
-}
\ No newline at end of file
diff --git a/CHANGELOG.md b/CHANGELOG.md
index f377c98..248e402 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -11,6 +11,8 @@
 ### Added
 
 - `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
 
diff --git a/Cargo.toml b/Cargo.toml
index 8d9b1b9..e8824ce 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -38,6 +38,12