profiling support

.vscode/settings.json

@@ -1,5 +1,6 @@
 {
     "rust-analyzer.cargo.features": [
-        "simd-stable"
+        "simd-stable",
+        "dim3"
     ]
 }

crates/rapier2d-f64/Cargo.toml

@@ -84,6 +84,7 @@ bitflags = "2"
 log = "0.4"
 ordered-float = "4"
 thiserror = "1"
+profiling = "1.0"
 
 [dev-dependencies]
 bincode = "1"

crates/rapier2d/Cargo.toml

@@ -84,6 +84,7 @@ bitflags = "2"
 log = "0.4"
 ordered-float = "4"
 thiserror = "1"
+profiling = "1.0"
 
 [dev-dependencies]
 bincode = "1"

crates/rapier3d-f64/Cargo.toml

@@ -87,6 +87,7 @@ bitflags = "2"
 log = "0.4"
 ordered-float = "4"
 thiserror = "1"
+profiling = "1.0"
 
 [dev-dependencies]
 bincode = "1"

crates/rapier3d-stl/Cargo.toml

@@ -7,13 +7,20 @@ documentation = "https://docs.rs/rapier3d-stl"
 homepage = "https://rapier.rs"
 repository = "https://github.com/dimforge/rapier"
 readme = "README.md"
-categories = ["science", "game-development", "mathematics", "simulation", "wasm"]
+categories = [
+    "science",
+    "game-development",
+    "mathematics",
+    "simulation",
+    "wasm",
+]
 keywords = ["physics", "joints", "multibody", "robotics", "urdf"]
 license = "Apache-2.0"
 edition = "2021"
 
 [dependencies]
 thiserror = "1.0.61"
 stl_io = "0.7"
+profiling = "1.0"
 
 rapier3d = { version = "0.22", path = "../rapier3d" }

crates/rapier3d-urdf/Cargo.toml

@@ -7,7 +7,13 @@ documentation = "https://docs.rs/rapier3d-urdf"
 homepage = "https://rapier.rs"
 repository = "https://github.com/dimforge/rapier"
 readme = "README.md"
-categories = ["science", "game-development", "mathematics", "simulation", "wasm"]
+categories = [
+    "science",
+    "game-development",
+    "mathematics",
+    "simulation",
+    "wasm",
+]
 keywords = ["physics", "joints", "multibody", "robotics", "urdf"]
 license = "Apache-2.0"
 edition = "2021"
@@ -21,6 +27,7 @@ anyhow = "1"
 bitflags = "2"
 # NOTE: we are not using the (more recent) urdf-rs crate because of https://github.com/openrr/urdf-rs/issues/94
 xurdf = "0.2"
+profiling = "1.0"
 
 rapier3d = { version = "0.22", path = "../rapier3d" }
 rapier3d-stl = { version = "0.3.0", path = "../rapier3d-stl", optional = true }

crates/rapier3d/Cargo.toml

@@ -87,6 +87,7 @@ bitflags = "2"
 log = "0.4"
 ordered-float = "4"
 thiserror = "1"
+profiling = "1.0"
 
 [dev-dependencies]
 bincode = "1"

crates/rapier_testbed2d-f64/Cargo.toml

@@ -55,7 +55,7 @@ bevy_ecs = "0.14"
 bevy_core_pipeline = "0.14"
 bevy_pbr = "0.14"
 bevy_sprite = "0.14"
-#bevy_prototype_debug_lines = "0.7"
+profiling = "1.0"
 
 # Dependencies for native only.
 [target.'cfg(not(target_arch = "wasm32"))'.dependencies]

crates/rapier_testbed2d/Cargo.toml

@@ -55,7 +55,7 @@ bevy_ecs = "0.14"
 bevy_core_pipeline = "0.14"
 bevy_pbr = "0.14"
 bevy_sprite = "0.14"
-#bevy_prototype_debug_lines = "0.7"
+profiling = "1.0"
 
 # Dependencies for native only.
 [target.'cfg(not(target_arch = "wasm32"))'.dependencies]

crates/rapier_testbed3d-f64/Cargo.toml

@@ -57,7 +57,7 @@ bevy_ecs = "0.14"
 bevy_core_pipeline = "0.14"
 bevy_pbr = "0.14"
 bevy_sprite = "0.14"
-#bevy_prototype_debug_lines = { version = "0.7", features = [ "3d" ] }
+profiling = "1.0"
 
 # Dependencies for native only.
 [target.'cfg(not(target_arch = "wasm32"))'.dependencies]

crates/rapier_testbed3d/Cargo.toml

@@ -58,7 +58,7 @@ bevy_ecs = "0.14"
 bevy_core_pipeline = "0.14"
 bevy_pbr = "0.14"
 bevy_sprite = "0.14"
-#bevy_prototype_debug_lines = { version = "0.7", features = [ "3d" ] }
+profiling = "1.0"
 
 # Dependencies for native only.
 [target.'cfg(not(target_arch = "wasm32"))'.dependencies]

src/control/character_controller.rs

@@ -211,6 +211,7 @@ impl KinematicCharacterController {
     }
 
     /// Computes the possible movement for a shape.
+    #[profiling::function]
     pub fn move_shape(
         &self,
         dt: Real,
@@ -401,6 +402,7 @@ impl KinematicCharacterController {
         self.offset.eval(up_extends) * 1.2
     }
 
+    #[profiling::function]
     fn detect_grounded_status_and_apply_friction(
         &self,
         dt: Real,
@@ -629,6 +631,7 @@ impl KinematicCharacterController {
         Vector2::new(side_extent, up_extent)
     }
 
+    #[profiling::function]
     fn handle_stairs(
         &self,
         bodies: &RigidBodySet,
@@ -789,6 +792,7 @@ impl KinematicCharacterController {
     /// impulses to the rigid-bodies surrounding the character shape at the time of the collisions.
     /// Note that the impulse calculation is only approximate as it is not based on a global
     /// constraints resolution scheme.
+    #[profiling::function]
     pub fn solve_character_collision_impulses<'a>(
         &self,
         dt: Real,
@@ -818,6 +822,7 @@ impl KinematicCharacterController {
     /// impulses to the rigid-bodies surrounding the character shape at the time of the collision.
     /// Note that the impulse calculation is only approximate as it is not based on a global
     /// constraints resolution scheme.
+    #[profiling::function]
     fn solve_single_character_collision_impulse(
         &self,
         dt: Real,

src/control/ray_cast_vehicle_controller.rs

@@ -321,6 +321,7 @@ impl DynamicRayCastVehicleController {
         wheel.wheel_axle_ws = chassis_transform * wheel.axle_cs;
     }
 
+    #[profiling::function]
     fn ray_cast(
         &mut self,
         bodies: &RigidBodySet,
@@ -403,6 +404,7 @@ impl DynamicRayCastVehicleController {
     }
 
     /// Updates the vehicle’s velocity based on its suspension, engine force, and brake.
+    #[profiling::function]
     pub fn update_vehicle(
         &mut self,
         dt: Real,
@@ -531,6 +533,7 @@ impl DynamicRayCastVehicleController {
         }
     }
 
+    #[profiling::function]
     fn update_friction(&mut self, bodies: &mut RigidBodySet, colliders: &ColliderSet, dt: Real) {
         let num_wheels = self.wheels.len();
 

src/dynamics/ccd/ccd_solver.rs

@@ -108,6 +108,7 @@ impl CCDSolver {
     }
 
     /// Find the first time a CCD-enabled body has a non-sensor collider hitting another non-sensor collider.
+    #[profiling::function]
     pub fn find_first_impact(
         &mut self,
         dt: Real,
@@ -225,6 +226,7 @@ impl CCDSolver {
     }
 
     /// Outputs the set of bodies as well as their first time-of-impact event.
+    #[profiling::function]
     pub fn predict_impacts_at_next_positions(
         &mut self,
         dt: Real,

src/dynamics/ccd/toi_entry.rs

@@ -34,6 +34,7 @@ impl TOIEntry {
         }
     }
 
+    #[profiling::function]
     pub fn try_from_colliders<QD: ?Sized + QueryDispatcher>(
         query_dispatcher: &QD,
         ch1: ColliderHandle,

src/dynamics/joint/impulse_joint/impulse_joint_set.rs

@@ -244,6 +244,7 @@ impl ImpulseJointSet {
     ///
     /// If `wake_up` is set to `true`, then the bodies attached to this joint will be
     /// automatically woken up during the next timestep.
+    #[profiling::function]
     pub fn insert(
         &mut self,
         body1: RigidBodyHandle,
@@ -329,6 +330,7 @@ impl ImpulseJointSet {
     ///
     /// If `wake_up` is set to `true`, then the bodies attached to this joint will be
     /// automatically woken up.
+    #[profiling::function]
     pub fn remove(&mut self, handle: ImpulseJointHandle, wake_up: bool) -> Option<ImpulseJoint> {
         let id = self.joint_ids.remove(handle.0)?;
         let endpoints = self.joint_graph.graph.edge_endpoints(id)?;
@@ -356,6 +358,7 @@ impl ImpulseJointSet {
     /// The provided rigid-body handle is not required to identify a rigid-body that
     /// is still contained by the `bodies` component set.
     /// Returns the (now invalid) handles of the removed impulse_joints.
+    #[profiling::function]
     pub fn remove_joints_attached_to_rigid_body(
         &mut self,
         handle: RigidBodyHandle,

src/dynamics/joint/multibody_joint/multibody.rs

@@ -489,6 +489,7 @@ impl Multibody {
     }
 
     /// Computes the constant terms of the dynamics.
+    #[profiling::function]
     pub(crate) fn update_dynamics(&mut self, dt: Real, bodies: &mut RigidBodySet) {
         /*
          * Compute velocities.
@@ -1094,6 +1095,7 @@ impl Multibody {
     /// is the sum of the current position of `self` and this `displacement`.
     // TODO: this shares a lot of code with `forward_kinematics` and `update_body_jacobians`, except
     //       that we are only traversing a single kinematic chain. Could this be refactored?
+    #[profiling::function]
     pub fn forward_kinematics_single_branch(
         &self,
         bodies: &RigidBodySet,

src/dynamics/joint/multibody_joint/multibody_ik.rs

@@ -64,6 +64,7 @@ impl Multibody {
     /// desired transform.
     ///
     /// The displacement calculated by this function is added to the `displacement` vector.
+    #[profiling::function]
     pub fn inverse_kinematics_delta_with_jacobian(
         jacobian: &Jacobian<Real>,
         desired_movement: &SpacialVector<Real>,
@@ -88,6 +89,7 @@ impl Multibody {
     /// can be moved through the inverse-kinematics process. Any joint for which `joint_can_move`
     /// returns `false` will have its corresponding displacement constrained to 0.
     /// Set the closure to `|_| true` if all the joints are free to move.
+    #[profiling::function]
     pub fn inverse_kinematics(
         &self,
         bodies: &RigidBodySet,

src/dynamics/joint/multibody_joint/multibody_joint.rs

@@ -86,6 +86,7 @@ impl MultibodyJoint {
     }
 
     /// Integrate the position of this multibody_joint.
+    #[profiling::function]
     pub fn integrate(&mut self, dt: Real, vels: &[Real]) {
         let locked_bits = self.data.locked_axes.bits();
         let mut curr_free_dof = 0;

src/dynamics/joint/multibody_joint/multibody_joint_set.rs

@@ -153,6 +153,7 @@ impl MultibodyJointSet {
     }
 
     /// Inserts a new multibody_joint into this set.
+    #[profiling::function]
     fn do_insert(
         &mut self,
         body1: RigidBodyHandle,
@@ -213,6 +214,7 @@ impl MultibodyJointSet {
     }
 
     /// Removes a multibody_joint from this set.
+    #[profiling::function]
     pub fn remove(&mut self, handle: MultibodyJointHandle, wake_up: bool) {
         if let Some(removed) = self.rb2mb.get(handle.0).copied() {
             let multibody = self.multibodies.remove(removed.multibody.0).unwrap();
@@ -259,6 +261,7 @@ impl MultibodyJointSet {
     }
 
     /// Removes all the multibody_joints from the multibody the given rigid-body is part of.
+    #[profiling::function]
     pub fn remove_multibody_articulations(&mut self, handle: RigidBodyHandle, wake_up: bool) {
         if let Some(removed) = self.rb2mb.get(handle.0).copied() {
             // Remove the multibody.
@@ -281,6 +284,7 @@ impl MultibodyJointSet {
     }
 
     /// Removes all the multibody joints attached to a rigid-body.
+    #[profiling::function]
     pub fn remove_joints_attached_to_rigid_body(&mut self, rb_to_remove: RigidBodyHandle) {
         // TODO: optimize this.
         if let Some(link_to_remove) = self.rb2mb.get(rb_to_remove.0).copied() {
@@ -412,6 +416,7 @@ impl MultibodyJointSet {
     }
 
     /// Iterates through all the joints attached to the given rigid-body.
+    #[profiling::function]
     pub fn attached_joints(
         &self,
         rb: RigidBodyHandle,
@@ -428,6 +433,7 @@ impl MultibodyJointSet {
 
     /// Iterate through the handles of all the rigid-bodies attached to this rigid-body
     /// by a multibody_joint.
+    #[profiling::function]
     pub fn attached_bodies(
         &self,
         body: RigidBodyHandle,
@@ -441,6 +447,7 @@ impl MultibodyJointSet {
 
     /// Iterate through the handles of all the rigid-bodies attached to this rigid-body
     /// by an enabled multibody_joint.
+    #[profiling::function]
     pub fn bodies_attached_with_enabled_joint(
         &self,
         body: RigidBodyHandle,

src/dynamics/rigid_body.rs

@@ -1016,6 +1016,7 @@ impl RigidBody {
     /// Applies an impulse at the center-of-mass of this rigid-body.
     /// The impulse is applied right away, changing the linear velocity.
     /// This does nothing on non-dynamic bodies.
+    #[profiling::function]
     pub fn apply_impulse(&mut self, impulse: Vector<Real>, wake_up: bool) {
         if !impulse.is_zero() && self.body_type == RigidBodyType::Dynamic {
             self.vels.linvel += impulse.component_mul(&self.mprops.effective_inv_mass);
@@ -1030,6 +1031,7 @@ impl RigidBody {
     /// The impulse is applied right away, changing the angular velocity.
     /// This does nothing on non-dynamic bodies.
     #[cfg(feature = "dim2")]
+    #[profiling::function]
     pub fn apply_torque_impulse(&mut self, torque_impulse: Real, wake_up: bool) {
         if !torque_impulse.is_zero() && self.body_type == RigidBodyType::Dynamic {
             self.vels.angvel += self.mprops.effective_world_inv_inertia_sqrt
@@ -1045,6 +1047,7 @@ impl RigidBody {
     /// The impulse is applied right away, changing the angular velocity.
     /// This does nothing on non-dynamic bodies.
     #[cfg(feature = "dim3")]
+    #[profiling::function]
     pub fn apply_torque_impulse(&mut self, torque_impulse: Vector<Real>, wake_up: bool) {
         if !torque_impulse.is_zero() && self.body_type == RigidBodyType::Dynamic {
             self.vels.angvel += self.mprops.effective_world_inv_inertia_sqrt

src/dynamics/rigid_body_components.rs

@@ -624,6 +624,7 @@ impl RigidBodyVelocity {
 
     /// The kinetic energy of this rigid-body.
     #[must_use]
+    #[profiling::function]
     pub fn kinetic_energy(&self, rb_mprops: &RigidBodyMassProps) -> Real {
         let mut energy = (rb_mprops.mass() * self.linvel.norm_squared()) / 2.0;
 

src/dynamics/rigid_body_set.rs

@@ -84,6 +84,7 @@ impl RigidBodySet {
     }
 
     /// Removes a rigid-body, and all its attached colliders and impulse_joints, from these sets.
+    #[profiling::function]
     pub fn remove(
         &mut self,
         handle: RigidBodyHandle,