diff options
Diffstat (limited to 'src')
114 files changed, 24539 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.ncon |