Implement the ability to run multiple CCD substeps.

3 files changed, 28 insertions, 0 deletions

diff --git a/src/counters/collision_detection_counters.rs b/src/counters/collision_detection_counters.rs
index d164452..90c5141 100644
--- a/src/counters/collision_detection_counters.rs
+++ b/src/counters/collision_detection_counters.rs
@@ -21,6 +21,13 @@ impl CollisionDetectionCounters {
             narrow_phase_time: Timer::new(),
         }
     }
+
+    /// Resets all the coounters and timers.
+    pub fn reset(&mut self) {
+        self.ncontact_pairs = 0;
+        self.broad_phase_time.reset();
+        self.narrow_phase_time.reset();
+    }
 }
 
 impl Display for CollisionDetectionCounters {
diff --git a/src/counters/mod.rs b/src/counters/mod.rs
index c172350..4d4d05d 100644
--- a/src/counters/mod.rs
+++ b/src/counters/mod.rs
@@ -114,6 +114,18 @@ impl Counters {
     pub fn set_ncontact_pairs(&mut self, n: usize) {
         self.cd.ncontact_pairs = n;
     }
+
+    /// Resets all the counters and timers.
+    pub fn reset(&mut self) {
+        if self.enabled {
+            self.step_time.reset();
+            self.custom.reset();
+            self.stages.reset();
+            self.cd.reset();
+            self.solver.reset();
+            self.ccd.reset();
+        }
+    }
 }
 
 macro_rules! measure_method {
diff --git a/src/counters/stages_counters.rs b/src/counters/stages_counters.rs
index 856b759..b61adb7 100644
--- a/src/counters/stages_counters.rs
+++ b/src/counters/stages_counters.rs
@@ -27,6 +27,15 @@ impl StagesCounters {
             ccd_time: Timer::new(),
         }
     }
+
+    /// Resets all the counters and timers.
+    pub fn reset(&mut self) {
+        self.update_time.reset();
+        self.collision_detection_time.reset();
+        self.island_construction_time.reset();
+        self.solver_time.reset();
+        self.ccd_time.reset();
+    }
 }
 
 impl Display for StagesCounters {