2 files changed, 25 insertions, 15 deletions

diff --git a/src/geometry/narrow_phase.rs b/src/geometry/narrow_phase.rs
index 843015e..f7389a8 100644
--- a/src/geometry/narrow_phase.rs
+++ b/src/geometry/narrow_phase.rs
@@ -673,12 +673,6 @@ impl NarrowPhase {
                 }
             }
         }
-
-        println!(
-            "Delete events: {}, add events: {}",
-            num_delete,
-            broad_phase_events.len() - num_delete
-        );
     }
 
     pub(crate) fn compute_intersections<Bodies, Colliders>(
@@ -826,9 +820,6 @@ 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| {
@@ -1032,8 +1023,6 @@ 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 0ac734a..85c1b26 100644
--- a/src/pipeline/physics_pipeline.rs
+++ b/src/pipeline/physics_pipeline.rs
@@ -135,9 +135,6 @@ 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,
@@ -145,7 +142,6 @@ impl PhysicsPipeline {
             &self.broad_phase_events,
             events,
         );
-        println!("B time: {}", instant::now() - t0);
 
         narrow_phase.compute_contacts(
             integration_parameters.prediction_distance,
@@ -263,6 +259,31 @@ impl PhysicsPipeline {
             &mut manifolds,
             &mut self.manifold_indices,
         );
+
+        let error: Real = manifolds
+            .iter()
+            .flat_map(|m| m.data.solver_contacts.iter())
+            .map(|ctct| ctct.dist)
+            .filter(|e| *e < 0.0)
+            .map(|e| e.abs())
+            .sum();
+        let mut max_error = 0.0;
+        for e in manifolds
+            .iter()
+            .flat_map(|m| m.data.solver_contacts.iter())
+            .map(|ctct| ctct.dist)
+            .filter(|e| *e < 0.0)
+            .map(|e| e.abs())
+        {
+            if e > max_error {
+                max_error = e;
+            }
+        }
+
+        println!(
+            ">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>> Penetration errors: {}",
+            error
+        );
         joints.select_active_interactions(islands, bodies, &mut self.joint_constraint_indices);
 
         self.counters.stages.update_time.resume();