avian3d/dynamics/solver/
diagnostics.rs

1use bevy::{
2    diagnostic::DiagnosticPath,
3    prelude::{ReflectResource, Resource},
4    reflect::Reflect,
5};
6use core::time::Duration;
7
8use crate::diagnostics::{PhysicsDiagnostics, impl_diagnostic_paths};
9
10/// Diagnostics for the physics solver.
11#[derive(Resource, Debug, Default, Reflect)]
12#[reflect(Resource, Debug)]
13pub struct SolverDiagnostics {
14    /// Time spent preparing constraints.
15    pub prepare_constraints: Duration,
16    /// Time spent preparing or clearing velocity increments in [`VelocityIntegrationData`]s.
17    ///
18    /// [`VelocityIntegrationData`]: crate::dynamics::integrator::VelocityIntegrationData
19    pub update_velocity_increments: Duration,
20    /// Time spent integrating velocities.
21    pub integrate_velocities: Duration,
22    /// Time spent warm starting the solver.
23    pub warm_start: Duration,
24    /// Time spent solving constraints with bias.
25    pub solve_constraints: Duration,
26    /// Time spent integrating positions.
27    pub integrate_positions: Duration,
28    /// Time spent relaxing velocities.
29    pub relax_velocities: Duration,
30    /// Time spent applying restitution.
31    pub apply_restitution: Duration,
32    /// Time spent writing the final results to the bodies.
33    pub finalize: Duration,
34    /// Time spent storing impulses for warm starting.
35    pub store_impulses: Duration,
36    /// Time spent on swept CCD.
37    pub swept_ccd: Duration,
38    /// The number of contact constraints generated.
39    pub contact_constraint_count: u32,
40}
41
42impl PhysicsDiagnostics for SolverDiagnostics {
43    fn timer_paths(&self) -> Vec<(&'static DiagnosticPath, Duration)> {
44        vec![
45            (Self::PREPARE_CONSTRAINTS, self.prepare_constraints),
46            (
47                Self::UPDATE_VELOCITY_INCREMENTS,
48                self.update_velocity_increments,
49            ),
50            (Self::INTEGRATE_VELOCITIES, self.integrate_velocities),
51            (Self::WARM_START, self.warm_start),
52            (Self::SOLVE_CONSTRAINTS, self.solve_constraints),
53            (Self::INTEGRATE_POSITIONS, self.integrate_positions),
54            (Self::RELAX_VELOCITIES, self.relax_velocities),
55            (Self::APPLY_RESTITUTION, self.apply_restitution),
56            (Self::FINALIZE, self.finalize),
57            (Self::STORE_IMPULSES, self.store_impulses),
58            (Self::SWEPT_CCD, self.swept_ccd),
59        ]
60    }
61
62    fn counter_paths(&self) -> Vec<(&'static DiagnosticPath, u32)> {
63        vec![(
64            Self::CONTACT_CONSTRAINT_COUNT,
65            self.contact_constraint_count,
66        )]
67    }
68}
69
70impl_diagnostic_paths! {
71    impl SolverDiagnostics {
72        PREPARE_CONSTRAINTS: "avian/solver/prepare_constraints",
73        UPDATE_VELOCITY_INCREMENTS: "avian/solver/update_velocity_increments",
74        INTEGRATE_VELOCITIES: "avian/solver/integrate_velocities",
75        WARM_START: "avian/solver/warm_start",
76        SOLVE_CONSTRAINTS: "avian/solver/solve_constraints",
77        INTEGRATE_POSITIONS: "avian/solver/integrate_positions",
78        RELAX_VELOCITIES: "avian/solver/relax_velocities",
79        APPLY_RESTITUTION: "avian/solver/apply_restitution",
80        FINALIZE: "avian/solver/finalize",
81        STORE_IMPULSES: "avian/solver/store_impulses",
82        SWEPT_CCD: "avian/solver/swept_ccd",
83        CONTACT_CONSTRAINT_COUNT: "avian/solver/contact_constraint_count",
84    }
85}
avian3d/dynamics/solver/diagnostics.rs

avian3d/dynamics/solver/
diagnostics.rs
