feat: add some additional perf counters

src/counters/mod.rs

@@ -182,6 +182,12 @@ measure_method!(
     stages.solver_time
 );
 measure_method!(ccd_started, ccd_completed, ccd_time, stages.ccd_time);
+measure_method!(
+    query_pipeline_update_started,
+    query_pipeline_update_completed,
+    query_pipeline_update_time,
+    stages.query_pipeline_time
+);
 
 measure_method!(
     assembly_started,
@@ -201,12 +207,6 @@ measure_method!(
     velocity_update_time,
     solver.velocity_update_time
 );
-measure_method!(
-    position_resolution_started,
-    position_resolution_completed,
-    position_resolution_time,
-    solver.position_resolution_time
-);
 measure_method!(
     broad_phase_started,
     broad_phase_completed,

src/counters/solver_counters.rs

@@ -14,10 +14,8 @@ pub struct SolverCounters {
     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,
+    /// Time spent to write force back to user-accessible data.
+    pub velocity_writeback_time: Timer,
 }
 
 impl SolverCounters {
@@ -29,8 +27,7 @@ impl SolverCounters {
             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(),
+            velocity_writeback_time: Timer::new(),
         }
     }
 
@@ -41,8 +38,7 @@ impl SolverCounters {
         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();
+        self.velocity_writeback_time.reset();
     }
 }
 
@@ -57,11 +53,10 @@ impl Display for SolverCounters {
             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
+            "Velocity writeback time: {}",
+            self.velocity_writeback_time
         )
     }
 }

src/counters/stages_counters.rs

@@ -14,6 +14,10 @@ pub struct StagesCounters {
     pub solver_time: Timer,
     /// Total time spent for CCD and CCD resolution.
     pub ccd_time: Timer,
+    /// Total time spent updating the query pipeline (if provided to `PhysicsPipeline::step`).
+    pub query_pipeline_time: Timer,
+    /// Total time spent propagating user changes.
+    pub user_changes: Timer,
 }
 
 impl StagesCounters {
@@ -25,6 +29,8 @@ impl StagesCounters {
             island_construction_time: Timer::new(),
             solver_time: Timer::new(),
             ccd_time: Timer::new(),
+            query_pipeline_time: Timer::new(),
+            user_changes: Timer::new(),
         }
     }
 
@@ -35,6 +41,8 @@ impl StagesCounters {
         self.island_construction_time.reset();
         self.solver_time.reset();
         self.ccd_time.reset();
+        self.query_pipeline_time.reset();
+        self.user_changes.reset();
     }
 }
 
@@ -52,6 +60,8 @@ impl Display for StagesCounters {
             self.island_construction_time
         )?;
         writeln!(f, "Solver time: {}", self.solver_time)?;
-        writeln!(f, "CCD time: {}", self.ccd_time)
+        writeln!(f, "CCD time: {}", self.ccd_time)?;
+        writeln!(f, "Query pipeline time: {}", self.query_pipeline_time)?;
+        writeln!(f, "User changes time: {}", self.user_changes)
     }
 }