First public release of Rapier.

src/counters/solver_counters.rs

@@ -0,0 +1,67 @@
+use crate::counters::Timer;
+use std::fmt::{Display, Formatter, Result};
+
+/// Performance counters related to constraints resolution.
+#[derive(Default, Clone, Copy)]
+pub struct SolverCounters {
+    /// Number of constraints generated.
+    pub nconstraints: usize,
+    /// Number of contacts found.
+    pub ncontacts: usize,
+    /// Time spent for the resolution of the constraints (force computation).
+    pub velocity_resolution_time: Timer,
+    /// Time spent for the assembly of all the velocity constraints.
+    pub velocity_assembly_time: Timer,
+    /// Time spent for the update of the velocity of the bodies.
+    pub velocity_update_time: Timer,
+    /// Time spent for the assembly of all the position constraints.
+    pub position_assembly_time: Timer,
+    /// Time spent for the update of the position of the bodies.
+    pub position_resolution_time: Timer,
+}
+
+impl SolverCounters {
+    /// Creates a new counter initialized to zero.
+    pub fn new() -> Self {
+        SolverCounters {
+            nconstraints: 0,
+            ncontacts: 0,
+            velocity_assembly_time: Timer::new(),
+            velocity_resolution_time: Timer::new(),
+            velocity_update_time: Timer::new(),
+            position_assembly_time: Timer::new(),
+            position_resolution_time: Timer::new(),
+        }
+    }
+
+    /// Reset all the counters to zero.
+    pub fn reset(&mut self) {
+        self.nconstraints = 0;
+        self.ncontacts = 0;
+        self.velocity_resolution_time.reset();
+        self.velocity_assembly_time.reset();
+        self.velocity_update_time.reset();
+        self.position_assembly_time.reset();
+        self.position_resolution_time.reset();
+    }
+}
+
+impl Display for SolverCounters {
+    fn fmt(&self, f: &mut Formatter) -> Result {
+        writeln!(f, "Number of contacts: {}", self.ncontacts)?;
+        writeln!(f, "Number of constraints: {}", self.nconstraints)?;
+        writeln!(f, "Velocity assembly time: {}", self.velocity_assembly_time)?;
+        writeln!(
+            f,
+            "Velocity resolution time: {}",
+            self.velocity_resolution_time
+        )?;
+        writeln!(f, "Velocity update time: {}", self.velocity_update_time)?;
+        writeln!(f, "Position assembly time: {}", self.position_assembly_time)?;
+        writeln!(
+            f,
+            "Position resolution time: {}",
+            self.position_resolution_time
+        )
+    }
+}