feat: add some additional perf counters

src/dynamics/solver/island_solver.rs

@@ -41,7 +41,7 @@ impl IslandSolver {
         joint_indices: &[JointIndex],
         multibodies: &mut MultibodyJointSet,
     ) {
-        counters.solver.velocity_resolution_time.resume();
+        counters.solver.velocity_assembly_time.resume();
         let num_solver_iterations = base_params.num_solver_iterations.get()
             + islands.active_island_additional_solver_iterations(island_id);
 
@@ -76,8 +76,10 @@ impl IslandSolver {
             &mut self.contact_constraints,
             &mut self.joint_constraints,
         );
+        counters.solver.velocity_assembly_time.pause();
 
         // SOLVE
+        counters.solver.velocity_resolution_time.resume();
         self.velocity_solver.solve_constraints(
             &params,
             num_solver_iterations,
@@ -86,8 +88,10 @@ impl IslandSolver {
             &mut self.contact_constraints,
             &mut self.joint_constraints,
         );
+        counters.solver.velocity_resolution_time.pause();
 
         // WRITEBACK
+        counters.solver.velocity_writeback_time.resume();
         self.joint_constraints.writeback_impulses(impulse_joints);
         self.contact_constraints.writeback_impulses(manifolds);
         self.velocity_solver.writeback_bodies(
@@ -98,6 +102,6 @@ impl IslandSolver {
             bodies,
             multibodies,
         );
-        counters.solver.velocity_resolution_time.pause();
+        counters.solver.velocity_writeback_time.pause();
     }
 }