First public release of Rapier.v0.1.0

6 files changed, 474 insertions, 0 deletions

diff --git a/src/counters/ccd_counters.rs b/src/counters/ccd_counters.rs
new file mode 100644
index 0000000..682adfc
--- /dev/null
+++ b/src/counters/ccd_counters.rs
@@ -0,0 +1,49 @@
+use crate::counters::Timer;
+use std::fmt::{Display, Formatter, Result};
+
+/// Performance counters related to continuous collision detection (CCD).
+#[derive(Default, Clone, Copy)]
+pub struct CCDCounters {
+    /// The number of substeps actually performed by the CCD resolution.
+    pub num_substeps: usize,
+    /// The total time spent for TOI computation in the CCD resolution.
+    pub toi_computation_time: Timer,
+    /// The total time spent for force computation and integration in the CCD resolution.
+    pub solver_time: Timer,
+    /// The total time spent by the broad-phase in the CCD resolution.
+    pub broad_phase_time: Timer,
+    /// The total time spent by the narrow-phase in the CCD resolution.
+    pub narrow_phase_time: Timer,
+}
+
+impl CCDCounters {
+    /// Creates a new counter initialized to zero.
+    pub fn new() -> Self {
+        CCDCounters {
+            num_substeps: 0,
+            toi_computation_time: Timer::new(),
+            solver_time: Timer::new(),
+            broad_phase_time: Timer::new(),
+            narrow_phase_time: Timer::new(),
+        }
+    }
+
+    /// Resets this counter to 0.
+    pub fn reset(&mut self) {
+        self.num_substeps = 0;
+        self.toi_computation_time.reset();
+        self.solver_time.reset();
+        self.broad_phase_time.reset();
+        self.narrow_phase_time.reset();
+    }
+}
+
+impl Display for CCDCounters {
+    fn fmt(&self, f: &mut Formatter) -> Result {
+        writeln!(f, "Number of substeps: {}", self.num_substeps)?;
+        writeln!(f, "TOI computation time: {}", self.toi_computation_time)?;
+        writeln!(f, "Constraints solver time: {}", self.solver_time)?;
+        writeln!(f, "Broad-phase time: {}", self.broad_phase_time)?;
+        writeln!(f, "Narrow-phase time: {}", self.narrow_phase_time)
+    }
+}
diff --git a/src/counters/collision_detection_counters.rs b/src/counters/collision_detection_counters.rs
new file mode 100644
index 0000000..d164452
--- /dev/null
+++ b/src/counters/collision_detection_counters.rs
@@ -0,0 +1,32 @@
+use crate::counters::Timer;
+use std::fmt::{Display, Formatter, Result};
+
+/// Performance counters related to collision detection.
+#[derive(Default, Clone, Copy)]
+pub struct CollisionDetectionCounters {
+    /// Number of contact pairs detected.
+    pub ncontact_pairs: usize,
+    /// Time spent for the broad-phase of the collision detection.
+    pub broad_phase_time: Timer,
+    /// Time spent for the narrow-phase of the collision detection.
+    pub narrow_phase_time: Timer,
+}
+
+impl CollisionDetectionCounters {
+    /// Creates a new counter initialized to zero.
+    pub fn new() -> Self {
+        CollisionDetectionCounters {
+            ncontact_pairs: 0,
+            broad_phase_time: Timer::new(),
+            narrow_phase_time: Timer::new(),
+        }
+    }
+}
+
+impl Display for CollisionDetectionCounters {
+    fn fmt(&self, f: &mut Formatter) -> Result {
+        writeln!(f, "Number of contact pairs: {}", self.ncontact_pairs)?;
+        writeln!(f, "Broad-phase time: {}", self.broad_phase_time)?;
+        writeln!(f, "Narrow-phase time: {}", self.narrow_phase_time)
+    }
+}
diff --git a/src/counters/mod.rs b/src/counters/mod.rs
new file mode 100644
index 0000000..c172350
--- /dev/null
+++ b/src/counters/mod.rs
@@ -0,0 +1,225 @@
+//! Counters for benchmarking various parts of the physics engine.
+
+use std::fmt::{Display, Formatter, Result};
+
+pub use self::ccd_counters::CCDCounters;
+pub use self::collision_detection_counters::CollisionDetectionCounters;
+pub use self::solver_counters::SolverCounters;
+pub use self::stages_counters::StagesCounters;
+pub use self::timer::Timer;
+
+mod ccd_counters;
+mod collision_detection_counters;
+mod solver_counters;
+mod stages_counters;
+mod timer;
+
+/// Aggregation of all the performances counters tracked by nphysics.
+#[derive(Clone, Copy)]
+pub struct Counters {
+    /// Whether thi counter is enabled or not.
+    pub enabled: bool,
+    /// Timer for a whole timestep.
+    pub step_time: Timer,
+    /// Timer used for debugging.
+    pub custom: Timer,
+    /// Counters of every satge of one time step.
+    pub stages: StagesCounters,
+    /// Counters of the collision-detection stage.
+    pub cd: CollisionDetectionCounters,
+    /// Counters of the constraints resolution and force computation stage.
+    pub solver: SolverCounters,
+    /// Counters for the CCD resolution stage.
+    pub ccd: CCDCounters,
+}
+
+impl Counters {
+    /// Create a new set of counters initialized to wero.
+    pub fn new(enabled: bool) -> Self {
+        Counters {
+            enabled,
+            step_time: Timer::new(),
+            custom: Timer::new(),
+            stages: StagesCounters::new(),
+            cd: CollisionDetectionCounters::new(),
+            solver: SolverCounters::new(),
+            ccd: CCDCounters::new(),
+        }
+    }
+
+    /// Enable all the counters.
+    pub fn enable(&mut self) {
+        self.enabled = true;
+    }
+
+    /// Return `true` if the counters are enabled.
+    pub fn enabled(&self) -> bool {
+        self.enabled
+    }
+
+    /// Disable all the counters.
+    pub fn disable(&mut self) {
+        self.enabled = false;
+    }
+
+    /// Notify that the time-step has started.
+    pub fn step_started(&mut self) {
+        if self.enabled {
+            self.step_time.start();
+        }
+    }
+
+    /// Notfy that the time-step has finished.
+    pub fn step_completed(&mut self) {
+        if self.enabled {
+            self.step_time.pause();
+        }
+    }
+
+    /// Total time spent for one  of the physics engine.
+    pub fn step_time(&self) -> f64 {
+        self.step_time.time()
+    }
+
+    /// Notify that the custom operation has started.
+    pub fn custom_started(&mut self) {
+        if self.enabled {
+            self.custom.start();
+        }
+    }
+
+    /// Notfy that the custom operation has finished.
+    pub fn custom_completed(&mut self) {
+        if self.enabled {
+            self.custom.pause();
+        }
+    }
+
+    /// Total time of a custom event.
+    pub fn custom_time(&self) -> f64 {
+        self.custom.time()
+    }
+
+    /// Set the number of constraints generated.
+    pub fn set_nconstraints(&mut self, n: usize) {
+        self.solver.nconstraints = n;
+    }
+
+    /// Set the number of contacts generated.
+    pub fn set_ncontacts(&mut self, n: usize) {
+        self.solver.ncontacts = n;
+    }
+
+    /// Set the number of contact pairs generated.
+    pub fn set_ncontact_pairs(&mut self, n: usize) {
+        self.cd.ncontact_pairs = n;
+    }
+}
+
+macro_rules! measure_method {
+    ($started:ident, $stopped:ident, $time:ident, $info:ident. $timer:ident) => {
+        impl Counters {
+            /// Start this timer.
+            pub fn $started(&mut self) {
+                if self.enabled {
+                    self.$info.$timer.start()
+                }
+            }
+
+            /// Stop this timer.
+            pub fn $stopped(&mut self) {
+                if self.enabled {
+                    self.$info.$timer.pause()
+                }
+            }
+
+            /// Gets the time elapsed for this timer.
+            pub fn $time(&self) -> f64 {
+                if self.enabled {
+                    self.$info.$timer.time()
+                } else {
+                    0.0
+                }
+            }
+        }
+    };
+}
+
+measure_method!(
+    update_started,
+    update_completed,
+    update_time,
+    stages.update_time
+);
+measure_method!(
+    collision_detection_started,
+    collision_detection_completed,
+    collision_detection_time,
+    stages.collision_detection_time
+);
+measure_method!(
+    island_construction_started,
+    island_construction_completed,
+    island_construction_time,
+    stages.island_construction_time
+);
+measure_method!(
+    solver_started,
+    solver_completed,
+    solver_time,
+    stages.solver_time
+);
+measure_method!(ccd_started, ccd_completed, ccd_time, stages.ccd_time);
+
+measure_method!(
+    assembly_started,
+    assembly_completed,
+    assembly_time,
+    solver.velocity_assembly_time
+);
+measure_method!(
+    velocity_resolution_started,
+    velocity_resolution_completed,
+    velocity_resolution_time,
+    solver.velocity_resolution_time
+);
+measure_method!(
+    velocity_update_started,
+    velocity_update_completed,
+    velocity_update_time,
+    solver.velocity_update_time
+);
+measure_method!(
+    position_resolution_started,
+    position_resolution_completed,
+    position_resolution_time,
+    solver.position_resolution_time
+);
+measure_method!(
+    broad_phase_started,
+    broad_phase_completed,
+    broad_phase_time,
+    cd.broad_phase_time
+);
+measure_method!(
+    narrow_phase_started,
+    narrow_phase_completed,
+    narrow_phase_time,
+    cd.narrow_phase_time
+);
+
+impl Display for Counters {
+    fn fmt(&self, f: &mut Formatter) -> Result {
+        writeln!(f, "Total timestep time: {}", self.step_time)?;
+        self.stages.fmt(f)?;
+        self.cd.fmt(f)?;
+        self.solver.fmt(f)?;
+        writeln!(f, "Custom timer: {}", self.custom)
+    }
+}
+
+impl Default for Counters {
+    fn default() -> Self {
+        Self::new(false)
+    }
+}
diff --git a/src/counters/solver_counters.rs b/src/counters/solver_counters.rs
new file mode 100644
index 0000000..babcf41
--- /dev/null
+++ b/src/counters/solver_counters.rs
@@ -0,0 +1,67 @@
+use crate::counters::Timer;
+use std::fmt::{Display, Formatter, Result};
+
+/// Performance counters related to constraints resolution.
+#[derive(Default, Clone, Copy)]
+pub struct SolverCounters {
+    /// Number of constraints generated.
+    pub nconstraints: usize,
+    /// Number of contacts found.
+    pub ncontacts: usize,
+    /// Time spent for the resolution of the constraints (force computation).
+    pub velocity_resolution_time: Timer,
+    /// Time spent for the assembly of all the velocity constraints.
+    pub velocity_assembly_time: Timer,
+    /// Time spent for the update of the velocity of the bodies.
+    pub velocity_update_time: Timer,
+    /// Time spent for the assembly of all the position constraints.
+    pub position_assembly_time: Timer,
+    /// Time spent for the update of the position of the bodies.
+    pub position_resolution_time: Timer,
+}
+
+impl SolverCounters {
+    /// Creates a new counter initialized to zero.
+    pub fn new() -> Self {
+        SolverCounters {
+            nconstraints: 0,
+            ncontacts: 0,
+            velocity_assembly_time: Timer::new(),
+            velocity_resolution_time: Timer::new(),
+            velocity_update_time: Timer::new(),
+            position_assembly_time: Timer::new(),
+            position_resolution_time: Timer::new(),
+        }
+    }
+
+    /// Reset all the counters to zero.
+    pub fn reset(&mut self) {
+        self.nconstraints = 0;
+        self.ncontacts = 0;
+        self.velocity_resolution_time.reset();
+        self.velocity_assembly_time.reset();
+        self.velocity_update_time.reset();
+        self.position_assembly_time.reset();
+        self.position_resolution_time.reset();
+    }
+}
+
+impl Display for SolverCounters {
+    fn fmt(&self, f: &mut Formatter) -> Result {
+        writeln!(f, "Number of contacts: {}", self.ncontacts)?;
+        writeln!(f, "Number of constraints: {}", self.nconstraints)?;
+        writeln!(f, "Velocity assembly time: {}", self.velocity_assembly_time)?;
+        writeln!(
+            f,
+            "Velocity resolution time: {}",
+            self.velocity_resolution_time
+        )?;
+        writeln!(f, "Velocity update time: {}", self.velocity_update_time)?;
+        writeln!(f, "Position assembly time: {}", self.position_assembly_time)?;
+        writeln!(
+            f,
+            "Position resolution time: {}",
+            self.position_resolution_time
+        )
+    }
+}
diff --git a/src/counters/stages_counters.rs b/src/counters/stages_counters.rs
new file mode 100644
index 0000000..856b759
--- /dev/null
+++ b/src/counters/stages_counters.rs
@@ -0,0 +1,48 @@
+use crate::counters::Timer;
+use std::fmt::{Display, Formatter, Result};
+
+/// Performance counters related to each stage of the time step.
+#[derive(Default, Clone, Copy)]
+pub struct StagesCounters {
+    /// Time spent for updating the kinematic and dynamics of every body.
+    pub update_time: Timer,
+    /// Total time spent for the collision detection (including both broad- and narrow- phases).
+    pub collision_detection_time: Timer,
+    /// Time spent for the computation of collision island and body activation/deactivation (sleeping).
+    pub island_construction_time: Timer,
+    /// Total time spent for the constraints resolution and position update.t
+    pub solver_time: Timer,
+    /// Total time spent for CCD and CCD resolution.
+    pub ccd_time: Timer,
+}
+
+impl StagesCounters {
+    /// Create a new counter intialized to zero.
+    pub fn new() -> Self {
+        StagesCounters {
+            update_time: Timer::new(),
+            collision_detection_time: Timer::new(),
+            island_construction_time: Timer::new(),
+            solver_time: Timer::new(),
+            ccd_time: Timer::new(),
+        }
+    }
+}
+
+impl Display for StagesCounters {
+    fn fmt(&self, f: &mut Formatter) -> Result {
+        writeln!(f, "Update time: {}", self.update_time)?;
+        writeln!(
+            f,
+            "Collision detection time: {}",
+            self.collision_detection_time
+        )?;
+        writeln!(
+            f,
+            "Island construction time: {}",
+            self.island_construction_time
+        )?;
+        writeln!(f, "Solver time: {}", self.solver_time)?;
+        writeln!(f, "CCD time: {}", self.ccd_time)
+    }
+}
diff --git a/src/counters/timer.rs b/src/counters/timer.rs
new file mode 100644
index 0000000..fd25063
--- /dev/null
+++ b/src/counters/timer.rs
@@ -0,0 +1,53 @@
+use std::fmt::{Display, Error, Formatter};
+
+/// A timer.
+#[derive(Copy, Clone, Debug, Default)]
+pub struct Timer {
+    time: f64,
+    start: Option<f64>,
+}
+
+impl Timer {
+    /// Creates a new timer initialized to zero and not started.
+    pub fn new() -> Self {
+        Timer {
+            time: 0.0,
+            start: None,
+        }
+    }
+
+    /// Resets the timer to 0.
+    pub fn reset(&mut self) {
+        self.time = 0.0
+    }
+
+    /// Start the timer.
+    pub fn start(&mut self) {
+        self.time = 0.0;
+        self.start = Some(instant::now());
+    }
+
+    /// Pause the timer.
+    pub fn pause(&mut self) {
+        if let Some(start) = self.start {
+            self.time += instant::now() - start;
+        }
+        self.start = None;
+    }
+
+    /// Resume the timer.
+    pub fn resume(&mut self) {
+        self.start = Some(instant::now());
+    }
+
+    /// The measured time between the last `.start()` and `.pause()` calls.
+    pub fn time(&self) -> f64 {
+        self.time
+    }
+}
+
+impl Display for Timer {
+    fn fmt(&self, f: &mut Formatter) -> Result<(), Error> {
+        write!(f, "{}s", self.time)
+    }
+}