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feat: persistent islands + manifold reduction (#895)

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* feat: initial implementation of contact manifold reduction

* feat: try bepu-like manifold reduction

* feat: simplification of the constraints counting and indexing logic

* feat: add concept of incremental islands with a single awake island

More islands manager fixes

* feat: start adding support for multiple awake islands

* feat: add more timings

* feat: implement incremental island split & merge

* chore: refactor islands manager into multiple files

* chore: refactor manifold reduction to its own file + add naive reduction method

* feat: add islands manager validation checks

* fix various bugs in the new islands system

* chore: remove redundant active_set_offset field
This commit is contained in:
Sébastien Crozet
2026-01-09 17:04:02 +01:00
committed by GitHub
parent 134132900a
commit 48de83817e
40 changed files with 2099 additions and 1114 deletions
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24
src_testbed/ui.rs
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@@ -320,6 +320,10 @@ fn profiling_ui(ui: &mut Ui, counters: &Counters) {
"Broad-phase: {:.2}ms",
counters.broad_phase_time_ms()
));
ui.label(format!(
"Final broad-phase: {:.2}ms",
counters.cd.final_broad_phase_time.time_ms()
));
ui.label(format!(
"Narrow-phase: {:.2}ms",
counters.narrow_phase_time_ms()
@@ -332,6 +336,20 @@ fn profiling_ui(ui: &mut Ui, counters: &Counters) {
"Velocity assembly: {:.2}ms",
counters.solver.velocity_assembly_time.time_ms()
));
ui.label(format!(
"> Velocity assembly - solver bodies: {:.2}ms",
counters
.solver
.velocity_assembly_time_solver_bodies
.time_ms()
));
ui.label(format!(
"> Velocity assembly - constraints init: {:.2}ms",
counters
.solver
.velocity_assembly_time_constraints_init
.time_ms()
));
ui.label(format!(
"Velocity resolution: {:.2}ms",
counters.velocity_resolution_time_ms()
@@ -370,10 +388,16 @@ fn profiling_ui(ui: &mut Ui, counters: &Counters) {
"Island computation: {:.2}ms",
counters.island_construction_time_ms()
));
ui.label(format!(
"Active constraints collection: {:.2}ms",
counters.stages.island_constraints_collection_time.time_ms()
));
ui.label(format!("Mprops update: {:.2}ms", counters.update_time_ms()));
ui.label(format!(
"User changes: {:.2}ms",
counters.stages.user_changes.time_ms()
));
ui.label(format!("Debug timer: {:.2}ms", counters.custom.time_ms()));
});
}