Merge pull request #20 from dimforge/benchbot

Split benchmarks from examples

53 files changed, 1170 insertions, 195 deletions

diff --git a/Cargo.toml b/Cargo.toml
index a766033..b4ce57e 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -1,12 +1,12 @@
 [workspace]
-members = [ "build/rapier2d", "build/rapier_testbed2d", "examples2d",
-            "build/rapier3d", "build/rapier_testbed3d", "examples3d" ]
+members = [ "build/rapier2d", "build/rapier_testbed2d", "examples2d", "benchmarks2d",
+            "build/rapier3d", "build/rapier_testbed3d", "examples3d", "benchmarks3d" ]
 
 [patch.crates-io]
 #wrapped2d = { git = "https://github.com/Bastacyclop/rust_box2d.git" }
 
 [profile.release]
-debug = false
+#debug = true
 codegen-units = 1
 #opt-level = 1
 #lto = true
diff --git a/benchmarks2d/Cargo.toml b/benchmarks2d/Cargo.toml
new file mode 100644
index 0000000..b1ee8db
--- /dev/null
+++ b/benchmarks2d/Cargo.toml
@@ -0,0 +1,27 @@
+[package]
+name    = "rapier-benchmarks-2d"
+version = "0.1.0"
+authors = [ "Sébastien Crozet <developer@crozet.re>" ]
+edition = "2018"
+
+[features]
+parallel = [ "rapier2d/parallel", "rapier_testbed2d/parallel" ]
+simd-stable = [ "rapier2d/simd-stable" ]
+simd-nightly = [ "rapier2d/simd-nightly" ]
+other-backends = [ "rapier_testbed2d/other-backends" ]
+enhanced-determinism = [ "rapier2d/enhanced-determinism" ]
+
+[dependencies]
+rand       = "0.7"
+Inflector  = "0.11"
+nalgebra = "0.22"
+
+[dependencies.rapier_testbed2d]
+path = "../build/rapier_testbed2d"
+
+[dependencies.rapier2d]
+path = "../build/rapier2d"
+
+[[bin]]
+name = "all_benchmarks2"
+path = "./all_benchmarks2.rs"
\ No newline at end of file
diff --git a/benchmarks2d/all_benchmarks2.rs b/benchmarks2d/all_benchmarks2.rs
new file mode 100644
index 0000000..9a7a607
--- /dev/null
+++ b/benchmarks2d/all_benchmarks2.rs
@@ -0,0 +1,82 @@
+#![allow(dead_code)]
+
+extern crate nalgebra as na;
+
+#[cfg(target_arch = "wasm32")]
+use wasm_bindgen::prelude::*;
+
+use inflector::Inflector;
+
+use rapier_testbed2d::Testbed;
+use std::cmp::Ordering;
+
+mod balls2;
+mod boxes2;
+mod capsules2;
+mod heightfield2;
+mod joint_ball2;
+mod joint_fixed2;
+mod joint_prismatic2;
+mod pyramid2;
+
+fn demo_name_from_command_line() -> Option<String> {
+    let mut args = std::env::args();
+
+    while let Some(arg) = args.next() {
+        if &arg[..] == "--example" {
+            return args.next();
+        }
+    }
+
+    None
+}
+
+#[cfg(any(target_arch = "wasm32", target_arch = "asmjs"))]
+fn demo_name_from_url() -> Option<String> {
+    None
+    //    let window = stdweb::web::window();
+    //    let hash = window.location()?.search().ok()?;
+    //    Some(hash[1..].to_string())
+}
+
+#[cfg(not(any(target_arch = "wasm32", target_arch = "asmjs")))]
+fn demo_name_from_url() -> Option<String> {
+    None
+}
+
+#[cfg_attr(target_arch = "wasm32", wasm_bindgen(start))]
+pub fn main() {
+    let demo = demo_name_from_command_line()
+        .or_else(|| demo_name_from_url())
+        .unwrap_or(String::new())
+        .to_camel_case();
+
+    let mut builders: Vec<(_, fn(&mut Testbed))> = vec![
+        ("Balls", balls2::init_world),
+        ("Boxes", boxes2::init_world),
+        ("Capsules", capsules2::init_world),
+        ("Heightfield", heightfield2::init_world),
+        ("Pyramid", pyramid2::init_world),
+        ("(Stress test) joint ball", joint_ball2::init_world),
+        ("(Stress test) joint fixed", joint_fixed2::init_world),
+        (
+            "(Stress test) joint prismatic",
+            joint_prismatic2::init_world,
+        ),
+    ];
+
+    // Lexicographic sort, with stress tests moved at the end of the list.
+    builders.sort_by(|a, b| match (a.0.starts_with("("), b.0.starts_with("(")) {
+        (true, true) | (false, false) => a.0.cmp(b.0),
+        (true, false) => Ordering::Greater,
+        (false, true) => Ordering::Less,
+    });
+
+    let i = builders
+        .iter()
+        .position(|builder| builder.0.to_camel_case().as_str() == demo.as_str())
+        .unwrap_or(0);
+    let testbed = Testbed::from_builders(i, builders);
+
+    testbed.run()
+}
diff --git a/examples2d/balls2.rs b/benchmarks2d/balls2.rs
index 4c85d86..6791505 100644
--- a/examples2d/balls2.rs
+++ b/benchmarks2d/balls2.rs
@@ -50,7 +50,7 @@ pub fn init_world(testbed: &mut Testbed) {
             // Build the rigid body.
             let rigid_body = RigidBodyBuilder::new(status).translation(x, y).build();
             let handle = bodies.insert(rigid_body);
-            let collider = ColliderBuilder::ball(rad).density(1.0).build();
+            let collider = ColliderBuilder::ball(rad).build();
             colliders.insert(collider, handle, &mut bodies);
         }
     }
diff --git a/examples2d/boxes2.rs b/benchmarks2d/boxes2.rs
index 8b09def..4fb9bf3 100644
--- a/examples2d/boxes2.rs
+++ b/benchmarks2d/boxes2.rs
@@ -55,7 +55,7 @@ pub fn init_world(testbed: &mut Testbed) {
             // Build the rigid body.
             let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
             let handle = bodies.insert(rigid_body);
-            let collider = ColliderBuilder::cuboid(rad, rad).density(1.0).build();
+            let collider = ColliderBuilder::cuboid(rad, rad).build();
             colliders.insert(collider, handle, &mut bodies);
         }
     }
diff --git a/examples2d/capsules2.rs b/benchmarks2d/capsules2.rs
index 041edf5..76633bc 100644
--- a/examples2d/capsules2.rs
+++ b/benchmarks2d/capsules2.rs
@@ -56,9 +56,7 @@ pub fn init_world(testbed: &mut Testbed) {
             // Build the rigid body.
             let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
             let handle = bodies.insert(rigid_body);
-            let collider = ColliderBuilder::capsule_y(rad * 1.5, rad)
-                .density(1.0)
-                .build();
+            let collider = ColliderBuilder::capsule_y(rad * 1.5, rad).build();
             colliders.insert(collider, handle, &mut bodies);
         }
     }
diff --git a/benchmarks2d/heightfield2.rs b/benchmarks2d/heightfield2.rs
new file mode 100644
index 0000000..95fed6c
--- /dev/null
+++ b/benchmarks2d/heightfield2.rs
@@ -0,0 +1,72 @@
+use na::{DVector, Point2, Vector2};
+use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
+use rapier2d::geometry::{ColliderBuilder, ColliderSet};
+use rapier_testbed2d::Testbed;
+
+pub fn init_world(testbed: &mut Testbed) {
+    /*
+     * World
+     */
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let joints = JointSet::new();
+
+    /*
+     * Ground
+     */
+    let ground_size = Vector2::new(50.0, 1.0);
+    let nsubdivs = 2000;
+
+    let heights = DVector::from_fn(nsubdivs + 1, |i, _| {
+        if i == 0 || i == nsubdivs {
+            80.0
+        } else {
+            (i as f32 * ground_size.x / (nsubdivs as f32)).cos() * 2.0
+        }
+    });
+
+    let rigid_body = RigidBodyBuilder::new_static().build();
+    let handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::heightfield(heights, ground_size).build();
+    colliders.insert(collider, handle, &mut bodies);
+
+    /*
+     * Create the cubes
+     */
+    let num = 26;
+    let rad = 0.5;
+
+    let shift = rad * 2.0;
+    let centerx = shift * (num / 2) as f32;
+    let centery = shift / 2.0;
+
+    for i in 0..num {
+        for j in 0usize..num * 5 {
+            let x = i as f32 * shift - centerx;
+            let y = j as f32 * shift + centery + 3.0;
+
+            // Build the rigid body.
+            let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
+            let handle = bodies.insert(rigid_body);
+
+            if j % 2 == 0 {
+                let collider = ColliderBuilder::cuboid(rad, rad).build();
+                colliders.insert(collider, handle, &mut bodies);
+            } else {
+                let collider = ColliderBuilder::ball(rad).build();
+                colliders.insert(collider, handle, &mut bodies);
+            }
+        }
+    }
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, joints);
+    testbed.look_at(Point2::new(0.0, 50.0), 10.0);
+}
+
+fn main() {
+    let testbed = Testbed::from_builders(0, vec![("Heightfield", init_world)]);
+    testbed.run()
+}
diff --git a/examples2d/stress_joint_ball2.rs b/benchmarks2d/joint_ball2.rs
index 55db1b7..ecfdc47 100644
--- a/examples2d/stress_joint_ball2.rs
+++ b/benchmarks2d/joint_ball2.rs
@@ -37,7 +37,7 @@ pub fn init_world(testbed: &mut Testbed) {
                 .translation(fk * shift, -fi * shift)
                 .build();
             let child_handle = bodies.insert(rigid_body);
-            let collider = ColliderBuilder::ball(rad).density(1.0).build();
+            let collider = ColliderBuilder::ball(rad).build();
             colliders.insert(collider, child_handle, &mut bodies);
 
             // Vertical joint.
diff --git a/examples2d/stress_joint_fixed2.rs b/benchmarks2d/joint_fixed2.rs
index 31b3e4f..32a219e 100644
--- a/examples2d/stress_joint_fixed2.rs
+++ b/benchmarks2d/joint_fixed2.rs
@@ -42,7 +42,7 @@ pub fn init_world(testbed: &mut Testbed) {
                         .translation(x + fk * shift, y - fi * shift)
                         .build();
                     let child_handle = bodies.insert(rigid_body);
-                    let collider = ColliderBuilder::ball(rad).density(1.0).build();
+                    let collider = ColliderBuilder::ball(rad).build();
                     colliders.insert(collider, child_handle, &mut bodies);
 
                     // Vertical joint.
diff --git a/examples2d/stress_joint_prismatic2.rs b/benchmarks2d/joint_prismatic2.rs
index 91ef48e..91ef48e 100644
--- a/examples2d/stress_joint_prismatic2.rs
+++ b/benchmarks2d/joint_prismatic2.rs
diff --git a/benchmarks2d/pyramid2.rs b/benchmarks2d/pyramid2.rs
new file mode 100644
index 0000000..e6a715b
--- /dev/null
+++ b/benchmarks2d/pyramid2.rs
@@ -0,0 +1,60 @@
+use na::Point2;
+use rapier2d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
+use rapier2d::geometry::{ColliderBuilder, ColliderSet};
+use rapier_testbed2d::Testbed;
+
+pub fn init_world(testbed: &mut Testbed) {
+    /*
+     * World
+     */
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let joints = JointSet::new();
+
+    /*
+     * Ground
+     */
+    let ground_size = 100.0;
+    let ground_thickness = 1.0;
+
+    let rigid_body = RigidBodyBuilder::new_static().build();
+    let ground_handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(ground_size, ground_thickness).build();
+    colliders.insert(collider, ground_handle, &mut bodies);
+
+    /*
+     * Create the cubes
+     */
+    let num = 100;
+    let rad = 0.5;
+
+    let shift = rad * 2.0;
+    let centerx = shift * (num as f32) / 2.0;
+    let centery = shift / 2.0 + ground_thickness + rad * 1.5;
+
+    for i in 0usize..num {
+        for j in i..num {
+            let fj = j as f32;
+            let fi = i as f32;
+            let x = (fi * shift / 2.0) + (fj - fi) * shift - centerx;
+            let y = fi * shift + centery;
+
+            // Build the rigid body.
+            let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y).build();
+            let handle = bodies.insert(rigid_body);
+            let collider = ColliderBuilder::cuboid(rad, rad).build();
+            colliders.insert(collider, handle, &mut bodies);
+        }
+    }
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, joints);
+    testbed.look_at(Point2::new(0.0, 2.5), 5.0);
+}
+
+fn main() {
+    let testbed = Testbed::from_builders(0, vec![("Balls", init_world)]);
+    testbed.run()
+}
diff --git a/benchmarks3d/Cargo.toml b/benchmarks3d/Cargo.toml
new file mode 100644
index 0000000..81c843a
--- /dev/null
+++ b/benchmarks3d/Cargo.toml
@@ -0,0 +1,27 @@
+[package]
+name    = "rapier-benchmarks-3d"
+version = "0.1.0"
+authors = [ "Sébastien Crozet <developer@crozet.re>" ]
+edition = "2018"
+
+[features]
+parallel = [ "rapier3d/parallel", "rapier_testbed3d/parallel" ]
+simd-stable = [ "rapier3d/simd-stable" ]
+simd-nightly = [ "rapier3d/simd-nightly" ]
+other-backends = [ "rapier_testbed3d/other-backends" ]
+enhanced-determinism = [ "rapier3d/enhanced-determinism" ]
+
+[dependencies]
+rand       = "0.7"
+Inflector  = "0.11"
+nalgebra = "0.22"
+
+[dependencies.rapier_testbed3d]
+path = "../build/rapier_testbed3d"
+
+[dependencies.rapier3d]
+path = "../build/rapier3d"
+
+[[bin]]
+name = "all_benchmarks3"
+path = "all_benchmarks3.rs"
diff --git a/benchmarks3d/all_benchmarks3.rs b/benchmarks3d/all_benchmarks3.rs
new file mode 100644
index 0000000..dfbbc51
--- /dev/null
+++ b/benchmarks3d/all_benchmarks3.rs
@@ -0,0 +1,91 @@
+#![allow(dead_code)]
+
+extern crate nalgebra as na;
+
+#[cfg(target_arch = "wasm32")]
+use wasm_bindgen::prelude::*;
+
+use inflector::Inflector;
+
+use rapier_testbed3d::Testbed;
+use std::cmp::Ordering;
+
+mod balls3;
+mod boxes3;
+mod capsules3;
+mod compound3;
+mod heightfield3;
+mod joint_ball3;
+mod joint_fixed3;
+mod joint_prismatic3;
+mod joint_revolute3;
+mod keva3;
+mod pyramid3;
+mod stacks3;
+mod trimesh3;
+
+enum Command {
+    Run(String),
+    List,
+    RunAll,
+}
+
+fn parse_command_line() -> Command {
+    let mut args = std::env::args();
+
+    while let Some(arg) = args.next() {
+        if &arg[..] == "--example" {
+            return Command::Run(args.next().unwrap_or(String::new()));
+        } else if &arg[..] == "--list" {
+            return Command::List;
+        }
+    }
+
+    Command::RunAll
+}
+
+pub fn main() {
+    let command = parse_command_line();
+
+    let mut builders: Vec<(_, fn(&mut Testbed))> = vec![
+        ("Balls", balls3::init_world),
+        ("Boxes", boxes3::init_world),
+        ("Capsules", capsules3::init_world),
+        ("Compound", compound3::init_world),
+        ("Heightfield", heightfield3::init_world),
+        ("Stacks", stacks3::init_world),
+        ("Pyramid", pyramid3::init_world),
+        ("Trimesh", trimesh3::init_world),
+        ("Joint ball", joint_ball3::init_world),
+        ("Joint fixed", joint_fixed3::init_world),
+        ("Joint revolute", joint_revolute3::init_world),
+        ("Joint prismatic", joint_prismatic3::init_world),
+        ("Keva tower", keva3::init_world),
+    ];
+
+    // Lexicographic sort, with stress tests moved at the end of the list.
+    builders.sort_by(|a, b| match (a.0.starts_with("("), b.0.starts_with("(")) {
+        (true, true) | (false, false) => a.0.cmp(b.0),
+        (true, false) => Ordering::Greater,
+        (false, true) => Ordering::Less,
+    });
+
+    match command {
+        Command::Run(demo) => {
+            if let Some(i) = builders
+                .iter()
+                .position(|builder| builder.0.to_camel_case().as_str() == demo.as_str())
+            {
+                Testbed::from_builders(0, vec![builders[i]]).run()
+            } else {
+                eprintln!("Invalid example to run provided: '{}'", demo);
+            }
+        }
+        Command::RunAll => Testbed::from_builders(0, builders).run(),
+        Command::List => {
+            for builder in &builders {
+                println!("{}", builder.0.to_camel_case())
+            }
+        }
+    }
+}
diff --git a/benchmarks3d/balls3.rs b/benchmarks3d/balls3.rs
new file mode 100644
index 0000000..bdbe75e
--- /dev/null
+++ b/benchmarks3d/balls3.rs
@@ -0,0 +1,58 @@
+use na::Point3;
+use rapier3d::dynamics::{BodyStatus, JointSet, RigidBodyBuilder, RigidBodySet};
+use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier_testbed3d::Testbed;
+
+pub fn init_world(testbed: &mut Testbed) {
+    /*
+     * World
+     */
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let joints = JointSet::new();
+
+    /*
+     * Create the balls
+     */
+    let num = 20;
+    let rad = 1.0;
+
+    let shift = rad * 2.0 + 1.0;
+    let centerx = shift * (num as f32) / 2.0;
+    let centery = shift / 2.0;
+    let centerz = shift * (num as f32) / 2.0;
+
+    for i in 0..num {
+        for j in 0usize..num {
+            for k in 0..num {
+                let x = i as f32 * shift - centerx;
+                let y = j as f32 * shift + centery;
+                let z = k as f32 * shift - centerz;
+
+                let status = if j == 0 {
+                    BodyStatus::Static
+                } else {
+                    BodyStatus::Dynamic
+                };
+                let density = 0.477;
+
+                // Build the rigid body.
+                let rigid_body = RigidBodyBuilder::new(status).translation(x, y, z).build();
+                let handle = bodies.insert(rigid_body);
+                let collider = ColliderBuilder::ball(rad).density(density).build();
+                colliders.insert(collider, handle, &mut bodies);
+            }
+        }
+    }
+
+    /*
+     * Set up the testbed.
+     */
+    testbed.set_world(bodies, colliders, joints);
+    testbed.look_at(Point3::new(100.0, 100.0, 100.0), Point3::origin());
+}
+
+fn main() {
+    let testbed = Testbed::from_builders(0, vec![("Balls", init_world)]);
+    testbed.run()
+}
diff --git a/examples3d/boxes3.rs b/benchmarks3d/boxes3.rs
index eb8a472..0eb31f5 100644
--- a/examples3d/boxes3.rs
+++ b/benchmarks3d/boxes3.rs
@@ -47,7 +47,7 @@ pub fn init_world(testbed: &mut Testbed) {
                 // Build the rigid body.
                 let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
                 let handle = bodies.insert(rigid_body);
-                let collider = ColliderBuilder::cuboid(rad, rad, rad).density(1.0).build();
+                let collider = ColliderBuilder::cuboid(rad, rad, rad).build();
                 colliders.insert(collider, handle, &mut bodies);
             }
         }
diff --git a/examples3d/capsules3.rs b/benchmarks3d/capsules3.rs
index e6aad40..0e8ad94 100644
--- a/examples3d/capsules3.rs
+++ b/benchmarks3d/capsules3.rs
@@ -48,7 +48,7 @@ pub fn init_world(testbed: &mut Testbed) {
                 // Build the rigid body.
                 let rigid_body = RigidBodyBuilder::new_dynamic().translation(x, y, z).build();
                 let handle = bodies.insert(rigid_body);
-                let collider = ColliderBuilder::capsule_y(rad, rad).density(1.0).build();
+                let collider = ColliderBuilder::capsule_y(rad, rad).build();
                 colliders.insert(collider, handle, &mut bodies);
             }
         }
diff --git a/benchmarks3d/compound3.rs b/benchmarks3d/compound3.rs
new file mode 100644
index 0000000..a8a9939
--- /dev/null
+++ b/benchmarks3d/compound3.rs
@@ -0,0 +1,76 @@
+use na::Point3;
+use rapier3d::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
+use rapier3d::geometry::{ColliderBuilder, ColliderSet};
+use rapier_testbed3d::Testbed;
+
+pub fn init_world(testbed: &mut Testbed) {
+    /*
+     * World
+     */
+    let mut bodies = RigidBodySet::new();
+    let mut colliders = ColliderSet::new();
+    let joints = JointSet::new();
+
+    /*
+     * Ground
+     */
+    let ground_size = 200.1;
+    let ground_height = 0.1;
+
+    let rigid_body = RigidBodyBuilder::new_static()
+        .translation(0.0, -ground_height, 0.0)
+        .build();
+    let handle = bodies.insert(rigid_body);
+    let collider = ColliderBuilder::cuboid(ground_size, ground_height, ground_size).build();
+    colliders.insert(collider, handle, &mut bodies);
+
+    /*
+     * Create the cubes
+     */
+    let num = 8;
+    let rad = 0.2;
+
+    let shift = rad * 4.0 + rad;
+    let centerx = shift * (num / 2) as f32;
+    let centery = shift / 2.0;
+    let centerz = shift * (num / 2) as f32;
+
+    let mut offset = -(num as f32) * (rad * 2.0 + rad) * 0.5;
+
+    for j in 0usize..25 {
+        for i in 0..num {
+            for k in 0usize..num {
+                let x = i as f32 * shift * 5.0 - centerx + offset;
+                let y = j as f32 * (shift * 5.0) + centery + 3.0;
+                let z =